Motion control of a class of underactuated mechanical systems: The acrobot example

被引：0
|
作者：
Xuzhi Lai
Zixing Cai
Jinhua She
机构：
[1] Central South University of Technology,College of Information Engineering
[2] Tokyo University of Engineering,Mechatronics Department
来源：
Journal of Central South University of Technology | 1999年 / 6卷 / 2期
关键词：
acrobot; underactuated mechanical systems; fuzzy control; linear quadratic regulator;
D O I：
10.1007/s11771-999-0016-4
中图分类号：
学科分类号：
摘要：
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.
引用
收藏
页码：134 / 137
页数：3
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