{"title":"基于线性二次型调节器和模糊控制器的欠驱动双连杆机器人控制","authors":"S. Hussain, M. Kadri","doi":"10.1109/INMIC.2012.6511468","DOIUrl":null,"url":null,"abstract":"This paper focuses on improved version of fuzzy control arrangement, for control of under-actuated two-link ROBOT. The proposed fuzzy controller stabilizes and balances the acrobat in erect position. A Linear Quadratic Regulator (LQR) was first designed for controlling purpose. LQR scaling gains were incorporated to design the fuzzy logic controller. The efficiency of the proposed fuzzy system is established through simulation studies. The simulation results have demonstrated that nonlinear fuzzy controller achieves much better regulation of the desired swing motion and guaranties global stability.","PeriodicalId":396084,"journal":{"name":"2012 15th International Multitopic Conference (INMIC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Control of under-actuated two-link ROBOT with Linear Quadratic Regulator and fuzzy controller\",\"authors\":\"S. Hussain, M. Kadri\",\"doi\":\"10.1109/INMIC.2012.6511468\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper focuses on improved version of fuzzy control arrangement, for control of under-actuated two-link ROBOT. The proposed fuzzy controller stabilizes and balances the acrobat in erect position. A Linear Quadratic Regulator (LQR) was first designed for controlling purpose. LQR scaling gains were incorporated to design the fuzzy logic controller. The efficiency of the proposed fuzzy system is established through simulation studies. The simulation results have demonstrated that nonlinear fuzzy controller achieves much better regulation of the desired swing motion and guaranties global stability.\",\"PeriodicalId\":396084,\"journal\":{\"name\":\"2012 15th International Multitopic Conference (INMIC)\",\"volume\":\"10 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 15th International Multitopic Conference (INMIC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/INMIC.2012.6511468\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 15th International Multitopic Conference (INMIC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INMIC.2012.6511468","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control of under-actuated two-link ROBOT with Linear Quadratic Regulator and fuzzy controller
This paper focuses on improved version of fuzzy control arrangement, for control of under-actuated two-link ROBOT. The proposed fuzzy controller stabilizes and balances the acrobat in erect position. A Linear Quadratic Regulator (LQR) was first designed for controlling purpose. LQR scaling gains were incorporated to design the fuzzy logic controller. The efficiency of the proposed fuzzy system is established through simulation studies. The simulation results have demonstrated that nonlinear fuzzy controller achieves much better regulation of the desired swing motion and guaranties global stability.
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