Fuzzy variable structure control for acrobot based on T-S model

The design of fuzzy variable structure control law is presented for an underactuated two-link robot called acrobot , which is a kind of nonlinear system. The global fuzzy model is obtained by employing T-S fuzzy modelling method. Then the fuzzy variable structure balance controller is designed based on Lyapunov theory, which can guarantee acrobot dynamics global asymptotically stable. The simulation results show that, by the fuzzy variable structure control comparing with common variable structure control method, a larger basin of attraction and stronger robustness can be obtained in the neighborhood of up vertical equilibrium point of acrobot system.