Fuzzy Neural-Network Friction Compensation-Based Singularity Avoidance Energy Swing-Up to Nonequilibrium Unstable Position Control of Pendubot

This paper mainly researches the swing-up control of Pendubot. Comparing with the uppermost unstable equilibrium position, it is more difficult to make the Pendubot swing up to the unstable nonequilibrium position. In order to complete the control target, the energy-based controller incorporated with fuzzy neural network compensation (ECFNNC) is designed in this paper. In addition, numerical simulations and experimental results of the Pendubot actuated by a dc servo motor are given in this paper. By comparing the results with other algorithms, it is found that the ECFNNC proposed in this paper has better performance under the same conditions.