A Fuzzy Control Strategy for the Acrobot
LAI Xuzhi
CAI Zixing
WU Min
SHE Jinhua
Abstract：This paper describes a fuzzy control strategy combining model-free and model-based fuzzy control to control an acrobot. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. The model-based fuzzy controller based on a Takagi-Sugeno fuzzy model is designed for balance control.
Keywords：acrobotunderactuated mechanical systemsfuzzy controlTakagi-Sugeno fuzzy modellinear matrix inequality
Publication Date：2000-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 326-330 )