Designing a fuzzy controller for the Acrobot to compensate for external disturbances

摘要

Discusses the swing-up control of a two link robot mechanism known as the Acrobot. In previous papers, a PD controller was investigated and then a better performing fuzzy controller was implemented by a combination of genetic algorithms, dynamic switching fuzzy systems, and meta-rule techniques. Limitations of the PD controller and the fuzzy controller were studied by investigating the effect of external random disturbances on the Acrobot using simulation. This paper illustrates how the fuzzy controller can be tuned to adjust for unknown external random disturbances.