Fuzzy PD scheme for underactuated robot swing-up control

In this paper, a multi-input multi-output (MIMO) fuzzy proportional-derivative (PD) controller, equipped with a dynamic switching fuzzy system is applied to swing-up an underactuated robot, the so-called Pendubot. This mechanism consists of a double pendulum actuated only at the first joint. The simulations included illustrate the applicability of the proposed scheme. The new controller design and its application are described.