Design limitations of PD versus fuzzy controllers for the Acrobot

Author

Smith, Michael H. ; Lee, Michael A. ; Ulieru, Mihaela ; Gruver, William A.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1130

Abstract

This paper discusses the swing-up control of a two link robot mechanism known as the Acrobot. First a PD controller is investigated and then a fuzzy controller is implemented by a combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques. Limitations of the PD controller and the fuzzy controller are shown by investigating the effect of external random disturbances on the Acrobot using simulation. Design considerations are discussed. This study illustrates how intelligent control methods can reduce development effort and system complexity while achieving better performance

Keywords

control system synthesis; fuzzy control; genetic algorithms; manipulators; random processes; two-term control; Acrobot; PD controller; design limitations; development effort; dynamic switching fuzzy systems; external random disturbances; fuzzy controllers; genetic algorithms; intelligent control methods; meta-rule techniques; swing-up control; system complexity; two-link robot mechanism; Automatic control; Control systems; Fuzzy control; Fuzzy systems; Genetic algorithms; Intelligent robots; Motion control; Motor drives; PD control; Shoulder;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614288

Filename

614288