Real-time underactuated robot swing-up via fuzzy PI+PD control

In this paper a new fuzzy PI+PD controller, which includes a Dynamic Switching Fuzzy System (DSFS), is applied to swing-up an underactuated mechanism: the pendubot. This mechanism consists of a double pendulum actuated only at the first joint. This new controller and its real-time application to the pendubot constitute our original contribution.