Gain Scheduling Control System Synthesis of an Acrobot Based on SOS

Intelligent Control for an Acrobot

The acrobot is an underactuated two-link planar robot that mimics the human acrobat who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with his/her hands still on the bar. In this paper we develop intelligent controllers for swing-up and balancing of the acrobot. In particular, we first develop classical, fuzzy, and adaptive fuzzy controllers to balance the ...

Design of Coal Quality Disturbance Free System for Coordinated Control System Based on Gain Scheduling

The economic and stable operation was affected seriously by coal quality disturbance for power plants. Based on model analysis, influence of the disturbance can be considered as gain change of control system. Power capability coefficient of coal was constructed to inhibit it. Accuracy of the coefficient was verified by operating data. Then coal quality disturbance free system based on gain sche...

Gain Scheduling for Networked Control System

An Application of Interpolating Gain-scheduling Control

This work investigates an application of interpolating gain-scheduling control for a structural acoustic problem. The dynamics of the system under consideration are highly sensitive to variation in the temperature. Therefore, linear time invariant H2 output feedback controllers are designed for different temperature conditions. Afterwards, these controllers are interpolated to provide a global ...

Explanation-Based Control of the Acrobot

In our approach intelligent contrd integrates symbolic reasoning of artificial intelligence (AI) into the control prcr.edur¢. We describe how this can be acc.~iished by a straightforward abstraction of the conventional notion of the central model. We apply the techniques to the problem of swingup contrd of the acrobot. "lhe resulting Explanation-Based Gantrd strategy is compared with two mare-c...