A new fuzzy approach for swing up control of Pendubot

摘要

This paper studies the swing up and balancing control problems for an under-actuated robot, Pendubot, from the point view of fuzzy logic control. To swing up the Pendubot from a rest position to the upright configuration, a fuzzy algorithm is proposed, where a simplified Tsukamoto's reasoning method and quasi-linear-mean aggregating operators are used to derive and analyze the controller input-output mappings. In order to balance the Pendubot at the unstable upright top configuration after swinging up, another simple fuzzy controller is derived according to its joint states. Hardware experiments show the applicability of the proposed scheme.