Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.16.0025
Title & Authors
Adaptive Robust Swing-up and Balancing Control of Acrobot using a Fuzzy Disturbance Observer Jeong, Seongchan; Lee, Sanghyob; Hong, Young-Dae; Chwa, Dongkyoung;
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.