Title :
Solution of Singularity Problem in Motion Control of Acrobots
Author :
Xuzhi, Lai ; Jinhua, She ; Min, Wu ; Yang, Simon X.
Author_Institution :
Central South Univ., Changsha
Abstract :
This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an acrobot. First, the singularity that arises in motion control based on Lyapunov function is explained. Then, a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law. Finally, two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control performance. Simulation results show the effectiveness of the proposed control strategy.
Keywords :
Lyapunov methods; fuzzy control; manipulators; motion control; Lyapunov function; acrobot; control law; fuzzy control; manipulator; motion control; singularity problem; Actuators; Asymptotic stability; Fuzzy control; Fuzzy sets; Information science; Intelligent robots; Intelligent systems; Lyapunov method; Motion control; Torque control; Acrobot; Lyapunov function; fuzzy control; singularity;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347602
