MOTION CONTROL OF A CLASS OF UNDERACTUATED MECHANICAL SYSTEMS: THE ACROBOT EXAMPLE

来源期刊：中南大学学报(英文版)1999年第2期

论文作者：Lai Xuzhi Cai Zixing She Jinhua

文章页码：134 - 137

Key words：acrobot; underactuated mechanical systems; fuzzy control; linear quadratic regulator

Abstract: Presents a control strategy for underactuated mechanical system: the acrobot example, which combines fuzzy control and linear quadratic control. The fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. After the acrobot enters a neighborhood of the unstable straight-up equilibrium position, a linear quadratic regulator is designed to balance it.