Title :
Fuzzy PD scheme for underactuated robot swing-up control
Author :
Sanchez, Edgar ; Nuno, Luis A. ; Hsu, Ya-Chen ; Chen, Guanrong
Author_Institution :
CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In this paper, a multi-input multi-output (MIMO) fuzzy proportional-derivative (PD) controller, equipped with a dynamic switching fuzzy system is applied to swing-up an underactuated robot, the so-called Pendubot. This mechanism consists of a double pendulum actuated only at the first joint. The simulations included illustrate the applicability of the proposed scheme. The new controller design and its application are described
Keywords :
MIMO systems; continuous time systems; control system synthesis; fuzzy control; pendulums; robot dynamics; two-term control; MIMO systems; PD controller; Pendubot; continuous time systems; dynamic switching; fuzzy control; pendulum; swing-up control; underactuated robot; Control systems; Equations; Error correction; Fuzzy control; Manipulator dynamics; PD control; Process control; Robot control; Signal processing; Torque;
Conference_Titel :
Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-4863-X
DOI :
10.1109/FUZZY.1998.687502
