대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 하계학술대회 논문집 D
- /
- Pages.2408-2410
- /
- 2001
퍼지 제어기를 이용한 Underactuated Robot의 광범위 제어
Wide-Range Stabilization Control of Underactuated Robot using Fuzzy Controller
- 발행 : 2001.07.18
초록
This paper presents the control of an underactuated two-link robot called the Pendubot. Combining linearized state feedback control with Takagi-Sugeno(T-S) fuzzy controller wide-range stabilization of Pendulum is achieved. The local stabilization controler is designed by linearinzing the dynamic equations about the several desired set point and using LQR(Linear Quadratic Regulator) techniques. Takagi-Sugeno methodology is used to control the nonlinear models near different operation points. Fuzzy controller is obtained by the fuzzy blending of the local controllers. The paper includes a description of the algorithm as well as real time experimental results for the Pendubot.
키워드