Motion control of a class of underactuated mechanical systems: The acrobot example

Abstract

Presents a control strategy for underactuated mechanical system: the acrobot example, which combines fuzzy control and linear quadratic control. The fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. After the acrobot enters a neighborhood of the unstable straight-up equilibrium position, a linear quadratic regulator is designed to balance it.

Keywords

acrobot / underactuated mechanical systems / fuzzy control / linear quadratic regulator