Singularity avoidance for acrobots based on fuzzy-control strategy

  • Authors:

  • Xu-Zhi Lai;Simon X. Yang;Jin-Hua She;Min Wu

  • Affiliations:

  • The School of Information Science & Engineering, Central South University, Changsha, Hunan 410083, China and The Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, ...;The Advanced Robotics and Intelligent Systems (ARIS) Laboratory, School of Engineering, University of Guelph, Guelph, Ontario N1G 2W1, Canada;The School of Bionics, Tokyo University of Technology, 1404-1 Katakura, Hachioji, Tokyo 192-0982, Japan;The School of Information Science & Engineering, Central South University, Changsha, Hunan 410083, China

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2009

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Abstract

This paper presents a fuzzy-control method for the motion control of an acrobot. First, an explanation is given of the singularity that arises when a motion control law based on a Lyapunov function has an integrated control objective for energy and posture. Then, a fuzzy controller is designed that solves the singularity problem through regulation of a design parameter in the control law. Finally, an additional fuzzy controller is designed that improves the control performance through regulation of another design parameter in the control law. Simulation results demonstrate the effectiveness of this integrated fuzzy-control strategy.