Design of Swinging-Up Controller Based on LyapunovFunction and Fuzzy Control for Under-Actuated Mechanical System

Xiao Gang Xiong; Min Wu

doi:10.4028/www.scientific.net/AMR.971-973.440

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 971-973Design of Swinging-Up Controller Based on...

Design of Swinging-Up Controller Based on LyapunovFunction and Fuzzy Control for Under-Actuated Mechanical System

Abstract:

This paper proposes a improved swing up controller design method. Throughusing the derivative of Lee Yap Andrianof function is negative to calculate theswing up control rule, and using fuzzy control technique to select controlparameters to avoid the swing up controller of the odd value and to improve thesystem control performance.

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Periodical:

Advanced Materials Research (Volumes 971-973)

Pages:

440-443

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.971-973.440

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Online since:

June 2014

Authors:

Xiao Gang Xiong*, Min Wu

Keywords:

Fuzzy Control, Lyapunov Function, Mechanical System, Underactuated

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* - Corresponding Author

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