Designing and Analyzing the PID and Fuzzy Control System for an Inverted Pendulum (original) (raw)
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Design of a Fuzzy Logic Controller for the Double Pendulum Inverted on a Cart
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The double-inverted pendulum (DIP) constitutes a classical problem in mechanics, whereas the control methods for stabilizing around the equilibrium positions represent the classic standards of control system theory and various control methods in robotics. For instance, it functions as a typical model for the calculation and stability of walking robots. The present study depicts the controlling of a double-inverted pendulum (DIP) on a cart using a fuzzy logic controller (FLC). A linear-quadratic controller (LQR) was used as a benchmark to assess the effectiveness of our method, and the results showed that the proposed FLC can perform significantly better than the LQR under a variety of initial system conditions. This performance is considered very important when the reduction of the peak system output is concerned. The proposed controller equilibration and velocity tracking performance were explored through simulation, and the results obtained point to the validity of the control met...
Stability is a very necessary state in control system and it becomes more difficult to achieve for a non-linear system. This paper looked at Fuzzy Logic Control (FLC) of Inverted pendulum for the control of the angle position. A conventional Proportional plus Integra plus Derivative (PID) controller was used to validate the proposed scheme. The FLC scheme was designed with the joint angle error and its derivative as the input to the controller. The Fuzzy controller provides control signal (force) that keep the angle of the pendulum at an equilibrium point despite disturbances. On the other hand, a model based PID controller was designed by turning its gains to achieve a precise stable position for the pendulum angle. In both control schemes a MATLAB simulink environment was used. The results show that under linearized model, FLC settled within 1.2 seconds without overshoot as compared with settling time of 92.0 seconds and 45% overshoot for PID. Similarly, for nonlinear model, settl...
2011
Inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also a research area for many researchers of modern control theories. Through the continuous research on new ways of controlling inverted pendulum, researchers have developed new control methods, and apply them to the high tech areas such as aeronautical engineering and robotics. Thanks to the characteristics of the system, such as high-order, instability multi-variables, non-linearity and strong coupling. This paper highlights the application and stability of inverted pendulum using fuzzy logic supervised PID controller. We are trying to propose a new method to control inverted pendulum using angle sensor...
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.
Comparison of fuzzy logic and GA-PID controller for position control of inverted pendulum
Stability is very necessary in control system and it becomes more difficult to achieve for a non-linear system. This paper considered two control schemes: Fuzzy Logic Control (FLC) and Proportional-Integra-Derivative optimized with Genetic Algorithm (GA-PID) Controller on Inverted pendulum for the control of the angle position. The FLC scheme was designed with the joint angle error and its derivative as the input of the controller, the Fuzzy controller provides control signal (force) that keep the angle of the pendulum at an equilibrium point despite disturbances. Fuzzy logic toolbox in MATLAB Simulink environment was used. On the other hand, a Matlab script for genetic algorithm was written with the aim of obtaining the best PID parameters that would keep the pendulum angle at equilibrium by minimizing a given objective function: Integral time average error (ITAE). The results obtained in both schemes shows that there was no specific controller between the two that shows superiorit...
Controlling of Rotary Inverted Pendulum with Self-Tune Fuzzy PID
2019
Inverted pendulum is a widely used mechanism in designing of robotic arm. The aim of this research is to model a self-tuned hybrid fuzzy logic (P+D & fuzzy) controller for inverted-pendulum; real time parameters are used in NI Lab-View software, for its proper modeling and controlling. This self-tuned PD works on error and is sent to computer-based model to generate suitable output for pendulum. The microcontroller-based interface gets input from rotational inverted pendulum; as per difference in error movement is updated via feedback signal of rotational angle measured by optical encoder until the stable position is achieved. The parameters of PD are set by self-tuning algorithm. Thus, the comparative analysis with previous work concludes that the research is very helpful for implementing the concept in self-stabilizing robots. ISSN (e) 2520-7393 ISSN (p) 2521-5027 Received on 2 Jan, 2019 Revised on 24 Mar, 2019 www.estirj.com 29 A.A. ABBASI et.al: CONTROLLING OF ROTARY INVERTED PE...
This paper presents the modeling and control of a gyroscopic inverted pendulum. Inverted pendulum is used to realize many classical control problems. Its dynamics are similar to many real-world systems like missile launchers, human walking and many more. The control of this system is challenging as it's highly unstable which will tend to fall on either side due to the gravitational force. In this paper, we are going to stabilize the gyroscopic inverted pendulum using PID controller, fuzzy logic controller and fuzzy PID controller. These controllers will be compared to determine the performance and to distinguish which one has the better response. Experiments and simulations are conducted to examine the different controllers and results are presented under different disturbance scenarios.
Performance Evaluation of various Control Techniques for Inverted Pendulum
2013
The application of different types of FLC and conventional PID controllers to the Inverted pendulum problem is presented in this paper. The fuzzy logic controllers have been used to control many nonlinear systems. They are designed in various forms in the MatlabSimulink environment with Mamdani type fuzzy inference system. The Inverted Pendulum system (also called “cart-pole system”) is a challenging,nonlinear and unstable control system. By controlling the force applied to the cart in the horizontal direction, the inverted pendulum can be kept in various unstable equilibrium positions. Fuzzy control in association with PID control is found better amongst the fuzzy PD and fuzzy PD+I control.
IJERT-Intelligent Controlling of an Inverted Pendulum Using PSO-PID Controller
International Journal of Engineering Research and Technology (IJERT), 2013
https://www.ijert.org/intelligent-controlling-of-an-inverted-pendulum-using-pso-pid-controller https://www.ijert.org/research/intelligent-controlling-of-an-inverted-pendulum-using-pso-pid-controller-IJERTV2IS121106.pdf Stabilizing the inverted pendulum is a standard problem in the field of control system. When force is applied to cart its position and pendulum angle deviate from its position .Many researchers have been applying different control algorithm and design techniques such as Neural Network, Genetic Algorithm (GA),Fuzzy logic, Particle swarm optimization on to a PID controller for stabilization of cart position and pendulum angle. The particle swarm optimization is a new evolutionary computation technique and has been introduced to solve several industrial problems [1-6]. Particle swarm optimization has better computational efficiency and it requires less number of parameter to adjust [13]. In this paper Particle Swarm Optimization (PSO) technique has been discussed to control the inverted pendulum problem and result is compared with conventional PID controller.