Real-time underactuated robot swing-up via fuzzy PI+PD control

Article type: Research Article

Authors: Sanchez, Edgar | Flores, Victor

Affiliations: CINVESTAV, Unidad Guadalajara, Aparto Postal 31-438, Plaza La Luna, Guadalajara, Jalisco, C.P. 45091, Mexico. E-mail: sanchez@gdl.cinvestav.mx

Abstract: In this paper a new fuzzy PI+PD controller, which includes a Dynamic Switching Fuzzy System (DSFS), is applied to swing-up an underactuated mechanism: the pendubot. This mechanism consists of a double pendulum actuated only at the first joint. This new controller and its real-time application to the pendubot constitute our original contribution.

Keywords: Fuzzy PI+PD control, underactuated mechanisms, real-time implementation

Journal: Journal of Intelligent & Fuzzy Systems, vol. 17, no. 1, pp. 1-13, 2006