Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2001.07d
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- Pages.2408-2410
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- 2001
Wide-Range Stabilization Control of Underactuated Robot using Fuzzy Controller
퍼지 제어기를 이용한 Underactuated Robot의 광범위 제어
- Published : 2001.07.18
Abstract
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.
Keywords