Motion Control of Acrobots Using Fuzzy and Sliding-Mode Control Strategy

This paper describes a control strategy for the control of an acrobot. The strategy 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 attractive 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.