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

  • Mining, Materials And Information Engineering
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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.

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Author information

Authors and Affiliations

  1. College of Information Engineering, Central South University of Technology, 410083, Changsha, China

    Lai Xuzhi & Cai Zixing

  2. Mechatronics Department, Tokyo University of Engineering, 192-8580, Tokyo, Japan

    She Jinhua

Authors
  1. Lai Xuzhi
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  2. Cai Zixing
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  3. She Jinhua
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Additional information

Project supported by the National Natural Science Foundation of China

Synopsis of the first author Lai Xuzhi, Doctoral student, born in 1966, majoring in intelligent control, nonlinear control, and robot control.

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Lai, X., Cai, Z. & She, J. Motion control of a class of underactuated mechanical systems: The acrobot example. J Cent. South Univ. Technol. 6, 134–137 (1999). https://doi.org/10.1007/s11771-999-0016-4

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  • DOI: https://doi.org/10.1007/s11771-999-0016-4

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