A Fuzzy Control Strategy for the Acrobot
Xuzhi Lai, She Jinhua · Control theory & applications · 2000
This paper describes a fuzzy control strategy combining model free and model based fuzzy control to control an acrobot. The model free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. The model based fuzzy controller based on a Takagi Sugeno fuzzy model is designed for balance control.