Control of under-actuated two-link ROBOT with Linear Quadratic Regulator and fuzzy controller

Abstract

This paper focuses on improved version of fuzzy control arrangement, for control of under-actuated two-link ROBOT. The proposed fuzzy controller stabilizes and balances the acrobat in erect position. A Linear Quadratic Regulator (LQR) was first designed for controlling purpose. LQR scaling gains were incorporated to design the fuzzy logic controller. The efficiency of the proposed fuzzy system is established through simulation studies. The simulation results have demonstrated that nonlinear fuzzy controller achieves much better regulation of the desired swing motion and guaranties global stability.