A Method of PD-Fuzzy Control for Acrobot

Van-Dong-Hai Nguyen, Xuan-Ba Dang *, Minh-Nhut Lam, The-Vinh Tran, Vu-Duc Hoang, Trong-Tuan Dao, Xuan-Tung Le, Tang-Phi Nguyen

Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan, No. 01, Ho Chi Minh city, Vietnam
* Corresponding author. E-mail: badx@hcmute.edu.vn

Robotica & Management, Vol. 26, No. 2, pp. 28-34
DOI: https://doi.org/10.24193/rm.2021.2.5

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.

Keywords: acrobot, PID control, PD-fuzzy, SIMO system.

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