Fuzzy and Variable Structure Control of a Class of Underactuated Mechanical Systems
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摘要: 针对体操机器人这类欠驱动机械系统,提出一种模糊与变结构控制策略.首先用逻辑 模糊控制实现快速平滑的摇起;然后用模糊变结构控制确保从摇起区快速进入平衡区;最后用 基于Takagi-Sugeno模糊模型的模糊控制达到较大范围内的平衡控制.Abstract: This paper presents a fuzzy and variable structure control strategy for an acrobot, which is a class of underactuated mechanical systems. First, a fuzzy logic control ensures smooth and fast swing-up control. Then, a fuzzy variable structure control is employed to ensure fast movement when the acrobot passes from the swing-up area into the balance area. Finally, a model-based fuzzy control, which is based on the Takagi-Sugeno fuzzy model, is used to balance it over a large region.
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