TY - GEN
T1 - Fuzzy PD scheme for underactuated robot swing-up control
AU - Sanchez, Edgar
AU - Nuno, Luis A.
AU - Hsu, Ya Chen
AU - Chen, Guanrong
PY - 1998
Y1 - 1998
N2 - In this paper, a Multi-Input Multi-Output (MIMO) fuzzy Proportional-Derivative (PD) controller, equipped with a Dynamic Switching Fuzzy System (DSFS), is applied to swing-up an underactuated robot: the so-called Pendubot. This mechanism consists of a double pendulum actuated only at the first joint. Included simulations illustrate the applicability of the proposed scheme. The new controller design and its application constitute our original contribution.
AB - In this paper, a Multi-Input Multi-Output (MIMO) fuzzy Proportional-Derivative (PD) controller, equipped with a Dynamic Switching Fuzzy System (DSFS), is applied to swing-up an underactuated robot: the so-called Pendubot. This mechanism consists of a double pendulum actuated only at the first joint. Included simulations illustrate the applicability of the proposed scheme. The new controller design and its application constitute our original contribution.
UR - https://www.scopus.com/pages/publications/0031635085
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0031635085&origin=recordpage
M3 - RGC 32 - Refereed conference paper (with host publication)
VL - 1
SP - 302
EP - 306
BT - IEEE International Conference on Fuzzy Systems
PB - IEEE
T2 - 1998 IEEE International Conference on Fuzzy Systems
Y2 - 4 May 1998 through 9 May 1998
ER -