首页|期刊导航|高技术通讯（英文版）|Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints
高技术通讯（英文版）2003，Vol.9Issue(3)：81-85,5.
Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints
Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints
摘要
Abstract
This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.关键词
intelligent integrated control/underactuated mechanical systems/second-order nonholonomic constraintsKey words
intelligent integrated control/underactuated mechanical systems/second-order nonholonomic constraints分类
信息技术与安全科学引用本文复制引用
Lai Xuzhi(赖旭芝),Wu Min,Cai Zixing,She Jinhua..Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints[J].高技术通讯（英文版）,2003,9(3):81-85,5.基金项目
Supported by Natural Science Foundation of Hunan Province (01JJY2065). （01JJY2065）
