Control of Nonlinear Dynamic Inverted Pendulum System Using Fuzzy Logic Based Control Methods (original) (raw)
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IJERT-Control of Nonlinear Dynamic Inverted Pendulum System Using Fuzzy Logic Based Control Methods
International Journal of Engineering Research and Technology (IJERT), 2014
https://www.ijert.org/control-of-nonlinear-dynamic-inverted-pendulum-system-using-fuzzy-logic-based-control-methods https://www.ijert.org/research/control-of-nonlinear-dynamic-inverted-pendulum-system-using-fuzzy-logic-based-control-methods-IJERTV3IS090434.pdf Inverted pendulum is a system having a nonlinear mathematic model, when inspected properly perishable balance condition pendulum angle and the vehicle position can be controlled by an input applied to the vehicle and dynamically unstable. This type of non-linear system control applications of conversion capabilities of fuzzy logic based controllers are successful. In this study, the non-linear dynamic inverted pendulum system based on fuzzy logic control method of different developed to control system performance and effects will be explored.
Control of Non-Linear Inverted Pendulum using Fuzzy Logic Controller
International Journal of Computer Applications, 2013
This paper proposes an intelligent control approach towards Inverted Pendulum in mechanical engineering. Inverted Pendulum is a well known topic in process control and offering a diverse range of research in the area of the mechanical and control engineering. Fuzzy controller is an intelligent controller based on the model of fuzzy logic i.e. it does not require accurate mathematical modelling of the system nor complex computations and it can handle complex and non linear systems without linearization. Our objective is to implement a Fuzzy based controller and demonstrate its application to Inverted Pendulum. Model design and simulation are done in MATLAB SIMULINK ® software.
AN INVESTIGATION ON FUZZY LOGIC CONTROLLERS (TAKAGI-SUGENO & MAMDANI) IN INVERSE PENDULUM SYSTEM
The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition and fuzzy control is an especial type of non-linear control. Inverse pendulum system is one the most widely popular non-linear systems which is known for its specific characteristics such as being intrinsically non-linear and unsteady. Therefore, a controller is required for maintaining stability of the system Present study tries to compare the obtained results from designing fuzzy intelligent controllers in similar conditions and also identify the appropriate controller for holding the inverse pendulum in vertical position on the cart.
Fuzzy Control of a Real Time Inverted Pendulum System
In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to its inverted position in 10 seconds from downward position. In order to test the robustness of the fuzzy logic controller internal (changing model parameters) and external disturbances (applying external forces) were applied on the inverted pendulum. The inverted pendulum system was shown to be robust to the external and internal disturbances. The maximum errors of the pendulum angle to the impulse input were between 1.89˚ and 4.6449˚ in the robustness tests.
Bitlis Eren University journal of science and technology, 2016
In recent years, fuzzy logic based modeling and control methods have been increasingly used in the academic field. Inverted pendulum system consists of conventional materials with nonlinear dynamic structure in order to test types of controllers. This paper presents a simulation study of Takagi-Sugeno type fuzzy logic controllers for an inverted pendulum (cart-pole) system. A Takagi-Sugeno method was applied to the inverted-pendulum system, which can balance the pendulum over a greater range of pole angle and cart position. Takagi-Sugeno fuzzy logic controller proposed in this study is compared with the conventional PD controller in order to demonstrate the performance of the proposed controller. This study aims to determine the best control strategy that provides better performance in terms of pendulum's angle and cart's position. A Takagi-Sugeno type fuzzy logic controller yields better results. Simulation results demonstrated that the proposed fuzzy controller is effectiveness and robust.
Hybrid Fuzzy Control of Nonlinear Inverted Pendulum System
ArXiv, 2019
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system control. The proposed method is developed to achieve position control and later simultaneous control of position and pendulum angle in the same control loop. Also, the control algorithm is applied to achieve control objective of reference tracking, disturbance rejection and robustness to parameter variation. The performance of the proposed control scheme was compared with conventional PID and LQR controllers. The simulation results showed that the proposed control scheme provides high-performance dynamic characteristics and is robust with regard to parametric variations, disturbance and reference tracking compared to the comparatives
Robust control of Inverted pendulum using fuzzy logic controller
2013 Students Conference on Engineering and Systems (SCES), 2013
Robust Control has been used in various applications to improve the performance of the system. The Inverted pendulum (also called "Cart-Pole system) is a classical example of nonlinear and unstable control system. In This paper we present different design techniques of controller for stabilizing the inverted pendulum (cart system) problem and there comparative analysis of performance and reliability which is done through simulation on MATLab-Simulink. Robust control (Hco) in association with fuzzy produce better response as compared to fuzzy controller.
Adaptive Neuro-Fuzzy Control Approach for a Single Inverted Pendulum System
International Journal of Electrical and Computer Engineering (IJECE), 2018
The inverted pendulum is an under-actuated and nonlinear system, which is also unstable. It is a single-input double-output system, where only one output is directly actuated. This paper investigates a single intelligent control system using an adaptive neuro-fuzzy inference system (ANFIS) to stabilize the inverted pendulum system while tracking the desired position. The non-linear inverted pendulum system was modelled and built using MATLAB Simulink. An adaptive neuro-fuzzy logic controller was implemented and its performance was compared with a Sugeno-fuzzy inference system in both simulation and real experiment. The ANFIS controller could reach its desired new destination in 1.5 s and could stabilize the entire system in 2.2 s in the simulation, while in the experiment it took 1.7 s to reach stability. Results from the simulation and experiment showed that ANFIS had better performance compared to the Sugeno-fuzzy controller as it provided faster and smoother response and much less steady-state error. Keyword: Adaptive neuro-fuzzy inference system (ANFIS) Intelligent control Inverted pendulum (IP) Linear quadratic regulator (LQR) Sugeno FIS
Sigma Journal of Engineering and Natural Sciences, 2017
Fuzzy logic is studied in many multidisciplinary areas such as economy, business and engineering. The design of a fuzzy controller does not require a complicated mathematical model. It only requires a set of rules to form the rule table. Basically all of the rules in the rule table are based on the expert's experience which actually comes from his/her understanding operation of the system. In particular, fuzzy logic controller can be used to control for a nonlinear systems, using rules rather than mathematical model. The sugeno fuzzy inference method provides a more systematic approach to the design of fuzzy logic controller. It works better dynamic performance in multi-state variables (three or more variables). In this study, the aim of control system for the four state variables (angular position of inverted pendulum, angular velocity of inverted pendulum, cart position and cart velocity) is to simultaneously balance the inverted pendulum and place the cart in a desired position with fuzzy logic controller that contains sugeno inference method.
Employment of fuzzy logic in the control of the inverted pendulum
WIT Transactions on Information and Communication Technologies, 1970
This paper presents the systematic design of a fuzzy logic controller for a carpendulum mechanical system, well known in the literature as the inverted pendulum problem. The system is non-linear and inherently unstable. The objective of the controller is to maintain the pendulum in its inherently unstable position (vertical and upward oriented) using only fuzzy logic techniques. The proposed method controls the pendulum on the assumption of a track of infinite length. The validity of the approach has experimentally been verified and the results show the viability of the method. This work is part of a study on nonconventional control techniques applied to dynamic systems.