A Method of PD-Fuzzy Control for Acrobot

Abstract

In this paper, we design a PD-fuzzy controller which is developed from PID method. The model for testing here is acrobot – a SIMO model which imitates the action of barbell athlete. We create a hardware platform for real experiment. The aim of controlling is keeping link 1 at up-position and link 2 at down-position. Through both simulation and experiment, the PD-fuzzy controller shows better control quality than original PID controller.