Intelligent control for an acrobot
This paper uses the acrobot as a means of exploring and comparing a variety of intelligent and conventional controllers in a challenging application. An acrobot is an underactuated two-link planar robot that mimics a human acrobot who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with hands still on the bar. The authors develop intelligent controllers for swing-up and balancing of the acrobot. They use classical, fuzzy, and adaptive fuzzy controllers to balance the acrobot in the region near its inverted unstable equilibrium position. They also develop a proportional derivative controller with inner-loop partial feedback linearization, state feedback and fuzzy controller to swing the acrobot up from its stable equilibrium position to the inverted region. In the inverted region, the authors employ a balancing controller to ``capture the acrobot and balance it. The authors also develop a genetic algorithm for tuning the balancing and swing-up controllers. The demonstrate how the genetic algorithm can be used to optimize the performance of the controllers.
- Intelligent control of robotic systems
- Intelligent control of robotic systems.
- Intelligent control of underactuated mechanical system
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- Expert Control for a Robot Body
- Autonomous control of articulated robot / Autonome Regelung von mehrgliedrigen Robotern
- Intelligent control for a remotely operated vehicle
- Design and control of intelligent robotic systems
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- Motion planning and tracking control for an acrobot based on a rewinding approach
- Intelligent control of underactuated mechanical system
- Control strategy based on Fourier transformation and intelligent optimization for planar Pendubot
- Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
- Restricted gradient-descent algorithm for value-function approximation in reinforcement learning
- Sliding mode control of a class of underactuated systems
- Combination of fractional-order, adaptive second order and non-singular terminal sliding mode controls for dynamical systems with uncertainty and under-actuation property
- Intelligent control of miniature holonomic vertical take-off and landing robot
- Intelligent supervision of servo control
- A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach
- A new control method for planar four-link underactuated manipulator based on intelligence optimization
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