Fuzzy Dynamic Output Feedback Controller Design for Position Control of a Two-Link Robot

An Acrobat robot is a two-link surface robot that emulates the behavior of an acrobat man. This paper designed a dynamic output feedback control strategy to overcome system challenges such as its balancing and swing. This method is employed for the optimal control of the nonlinear model of the acrobat robot. It is important to note that dynamic feedback controllers are preferable to static ones due to their more effective control performances alongside with more degrees of freedom in achieving control objectives. In addition, the presented approach is incorporated with fuzzy control to optimize and update the parameters of the proposed controller. Simulations are performed in several cases consisting of the nominal system and considering the noise and disturbances. Simulation results demonstrate that the proposed controller in the form of fuzzy dynamic output feedback has a good performance compared to the static and dynamic output feedback in various situations.