By Topic

Fuzzy control strategy for Acrobots combining model-free and model-based control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Lai, X. ; Dept. of Autom. Control Eng., Central South Univ. of Technol., Changsha, China ; She, J.H. ; Ohyama, Y. ; Cai, Z.

A fuzzy control strategy for the control of an Acrobot is described. The strategy combines model-free and model-based fuzzy control. The model-free fuzzy controller designed for the up-swing ensures that the energy of the Acrobot increases with each swing. The control law for the torque is derived directly from the energy of the Acrobot. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model for balancing, employs the concept of parallel distributed compensation. The stability of the fuzzy-control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities and is found by a convex optimisation technique

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:146 ,  Issue: 6 )