Hybrid Fuzzy Logic and Adaptive LQR Controller for Swing-up, Positioning and Stabilization of Inverted Pendulum
نویسندگان
چکیده
منابع مشابه
MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
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In this paper, Swing-up and Stabilization of the Rotary inverted pendulum (RIP) is done through the fuzzy controller.The attraction of this paper is achieving the above stated aim through lesser number of rules. RIP is highly unstable and nonlinear in nature, so stabilization of the RIP is itself a challenging task. Swing-up mechanism in RIP is a type of unstable mechanism which is done effecti...
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Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during take off. This system consists of one input generating the cart driving force, and two outputs (linear position of the cart and angular position of the rod). The objective of this experimental design is to swing up the pendulum rod using an appropriate open loo...
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A simple yet functional graphical user interface (GUI) gives users the ability to explore differences created by changing settings such as sampling frequency and filter cutoff frequencies in real-time by the click of a button. This allows the user to transform mathematical theories into something tangible, ultimately leading to a better understanding of the interactions between theory and the p...
متن کاملSwing up and Stabilization of Rotary Inverted Pendulum using TS Fuzzy
This paper presents an approach for the swing up and stabilization of a rotary inverted pendulum (RIP). RIP system is an unstable, multi-variable, under actuated and highly nonlinear in nature. RIP consists of a pivot arm, the pivot arm rotates in a horizontal plane by means of a servo motor. The opposite end of the arm is attached to the pendulum rod whose axis is along the radial direction of...
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ژورنال
عنوان ژورنال: Electronics and Electrical Engineering
سال: 2014
ISSN: 2029-5731,1392-1215
DOI: 10.5755/j01.eee.20.3.6675