Title :
Real-time fuzzy PI + PD control for an underactuated robot
Author :
Sanchez, Edgar N. ; Flores, Victor
Author_Institution :
CINVESTAV, Unidad Guadalajara, Mexico
Abstract :
In this paper a new PI + PD fuzzy controller, which includes a dynamic switching fuzzy system (DFSFS), is applied to swing-up an underactuated mechanism: the pendubot. This mechanism consists of a double pendulum actuated only at the first joint. This new controller and its real-time application to the pendubot constitute our original contributions.
Keywords :
fuzzy control; real-time systems; robots; three-term control; DFSFS; dynamic switching fuzzy system; pendubot; real-time application; real-time fuzzy PI + PD control; swing-up; underactuated robot; Control systems; Control theory; Fuzzy control; Fuzzy systems; Nonlinear control systems; PD control; Robots; Switches; Three-term control; Two-term control;
Conference_Titel :
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on
Print_ISBN :
0-7803-7620-X
DOI :
10.1109/ISIC.2002.1157752
