Research on Fuzzy Neural Network-based Sliding Mode Balance Control of Acrobot

摘要：

Acrobot is a kind of under-actuated two-link rods robot. The control methods of Acrobot are complicated, but doing research on it is valuable to the applications and the study of nonlinear systems. Balance control and swing-up control are two main control areas of Acrobot. This paper centers on its balance control and combines the advantages of sliding mode control and fuzzy neural network to control Acrobot system. The simulations show that the new control strategy proposed in this paper is more effective than SMC (Sliding Mode Control) or ANFIS (Adaptive-Neural Network-based Fuzzy Inference System) respectively used to control Acrobot.

关键词： Sliding Mode Control ANFIS Acrobot LQR

作者: Liu Bo Zheng Yan

作者单位: Northeastern University, Shenyang, China,Colorado State University, Pueblo, CO, 81001, USA Northeastern University, Shenyang, China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 3425-3430

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）