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中文摘要：
针对体操机器人（Acrobot）这类非线性系统，给出一种基于T—S模型的模糊变结构控制律设计．首先采用T—S模型建模,得到Acrobot的全局模糊模型;然后基于Lyapunov理论设计出保证Acrobot全局渐近稳定的模糊变结构平衡控制器．仿真结果表明，所设计的模糊变结构控制器与普通变结构控制器相比．可使Acrobot系统在垂直向上平衡点附近具有更大的吸引域和更强的鲁棒性．
英文摘要：
The design of fuzzy variable structure control law is presented for an acrobot as a class of nonlinear system. The global fuzzy model is obtained by employing T-S fuzzy modeling method. Then the fuzzy variable structure balance controller is designed based on Lyapunov theory to guarantee acrobot global asymptotically stability. The simulation results show that, by the fuzzy variable structure control comparing with common variable structure control method, a larger basin of attraction and stronger robustness can be provided in the neighborhood of up-vertical equilibrium point of acrobot system.
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