Fuzzy PD scheme for underactuated robot swing-up control

1998 IEEE International Conference on Fuzzy Systems Proceedings - IEEE World Congress on Computational Intelligence

Volumn 1, Issue , 1998, Pages 302-306

  Sanchez, Edgar ^a   Nuiio, Luis A ^a   Hsu, Ya Chen ^b   Chen, Guanrong ^b  

^a UNIDAD GUADALAJARA   (Mexico)

^b UNIVERSITY OF HOUSTON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; MOTION CONTROL; MULTIVARIABLE CONTROL SYSTEMS; PENDULUMS; ROBOTICS;

MULTIPLE-INPUT MULTIPLE-OUTPUT (MIMO) FUZZY CONTROLLER; PROPORTIONAL-DERIVATIVE (PD) CONTROLLER; UNDERACTUATED ROBOT SWING-UP CONTROL;

FUZZY CONTROL;

EID: 0031635085     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/FUZZY.1998.687502     Document Type: Conference Paper

References (8)

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2. M. W. Spong, "The swing up control problem for the acrobot", IEEE Control Systems, pp 49-55, 1995.
3. L. E. Ramos, B. Castillo-Toledo, and J. Alvarez, "Nonlinear Regulation of an underactuated robot", in Proc. 1997 IEEE Intl. Conference in Robotics and Automation, pp 3288-3293, Albuquerque, New Mexico, USA, April 1997.
4. M. Berkemeier, "Nonlinear control of a two-link hoping robot", Ph. D. Thesis, University of California, Berkeley, USA, 1993.
5. M. A. Lee, and M. H. Smith, "Automatic design and tuning of a fuzzy system for controlling the acrobot using genetic algorithms, DSFS, and Meta-Rule Techniques", in Proc. NAFIPS'94, San Antonio, Texas, Dec. 1994.
6. M. H. Smith, M. A. Lee, M. Ulieru, and W. A. Gruver, "Design limitations of PD versus fuzzy controllers for the acrobot", in Proc. 1997 IEEE Intl. Conference in Robotics and Automation, pp 1130-1135, Albuquerque, New Mexico, USA, April 1997.
7. Y. Hsu, G. Chen, and E. N. Sanchez, "A Fuzzy PD controller for multi-link robot control: Stability Analysis", Proc. 1997 IEEE Intl. Conference in Robotics and Automation, pp 1412-1417, Albuquerque, New Mexico, USA, April 1997.
8. H. A. Malki, H. Li, and G. Chen, "New design and stability analysis of fuzzy proportional-derivative control systems, " IEEE Trans, on Fuzzy Systems., Vol. 2, pp 245-254, 1994.