This paper gives an integrated fuzzy-control solution of singularity problem in the motion control of an acrobot. First, the singularity that arises in motion control based on Lyapunov function is explained. Then, a fuzzy controller is employed to regulate one of parameters of the control law to solve the singularity problem in the motion control occurred in the motion control law, Finally, two additional fuzzy controllers for different situations are designed to regulate another parameter of the control law in order to improve the control performance. Simulation results show the efectiveness of the proposed control strategy.
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