Abstract
ABSTRACTThis study presents a fuzzy control strategy of underactuated mechanical systemswith parametric uncertainties. Underactuated mechanical systems have fewer controlinputs than degrees of freedom and arise in applications, such as space andundersea robots, mobile robots, walking, brachiating, and gymnastic robots. TheLagrangian dynamics of these systems may contain feed forward non-linear ties,non-minimum phase zero dynamics, nonholonomic constraints, and other propertiesthat place this class of systems at the forefront of research in nonlinear control. Acomplete understanding of the control of these systems is therefore lacking. First,this paper represents a brief introduction to the underactuated mechanical systems,the causes of their underactuation and parameters uncertain. Then it deals with theanalysis and design of fuzzy controller for one of the application of uncertainunderactuated mechanical systems; single flexible link robot. The parametersuncertainties of the flexible robot are presented as bounded variation in payloadmass and rotational inertia of the link.
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