DocumentCode
1657513
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
fYear
2007
Firstpage
523
Lastpage
527
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CHICC.2006.4347602
Filename
4347602
Link To Document