DocumentCode
2899745
Title
Real-time fuzzy PI + PD control for an underactuated robot
Author
Sanchez, Edgar N. ; Flores, Victor
Author_Institution
CINVESTAV, Unidad Guadalajara, Mexico
fYear
2002
fDate
2002
Firstpage
137
Lastpage
141
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on
ISSN
2158-9860
Print_ISBN
0-7803-7620-X
Type
conf
DOI
10.1109/ISIC.2002.1157752
Filename
1157752
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