Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Robust Swing-up and Balancing Control of Acrobot using a Fuzzy Disturbance Observer

퍼지 외란 관측기법을 이용한 아크로봇의 적응형 강인 스윙업 및 밸런싱제어

  • Jeong, Seongchan (Department of Electrical and Computer Engineering, Ajou University) ;
  • Lee, Sanghyob (Department of Electrical and Computer Engineering, Ajou University) ;
  • Hong, Young-Dae (Department of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dongkyoung (Department of Electrical and Computer Engineering, Ajou University)
  • Received : 2016.02.07
  • Accepted : 2016.03.27
  • Published : 2016.05.01
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Abstract

This paper proposes an adaptive robust control method for an acrobot system in the presence of input disturbance. The acrobot system is a typical example of the underactuated system with complex nonlinearity and strong dynamic coupling. Also, disturbance can cause limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point. To minimize the effect of the disturbance, we apply a fuzzy disturbance estimation method for the swing-up and balancing control of the acrobot system. In this paper, both disturbance observer and controller for the acrobot system are designed and verified through mathematical proof and simulations.

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References

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