Stabilization Control of Inverted Pendulum and Cart Systems by SIRMs Dynamically Connected Fuzzy Inference Model
نویسندگان
چکیده
منابع مشابه
Stabilization fuzzy control of inverted pendulum systems
A new fuzzy controller for stabilization control of inverted pendulum systems is presented based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference model. The fuzzy controller has four input items, each with a SIRM and a dynamic importance degree. The SIRMs and the dynamic importance degrees are designed such that pendulum angular control has priority over cart posit...
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1 Purpose The purpose of this experiment is to apply controller and observer design techniques to a physical “difficult-to-control” system, namely, the inverted pendulum on a cart system. The controller will mainly be designed via optimal control techniques. The control objective is for the cart to track a square wave while the pendulum remains upright. Also, the controller must be improve the ...
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The Cart-Inverted Pendulum System (CIPS) is a classical benchmark control problem. Its dynamics resembles with that of many real world systems of interest like missile launchers, pendubots, human walking and segways and many more. The control of this system is challenging as it is highly unstable, highly non-linear, non-minimum phase system and underactuated. Further, the physical constraints o...
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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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Model Predictive Control (MPC) is used to improve the performance of energy control for swinging up a pendulum. A new MPC method is developed in continuous time, but it explicitly considers its digital implementation letting the control signal be piecewise constant. The stability properties of the algorithm are analyzed in terms of the free MPC design parameters. The achieved performance improv...
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ژورنال
عنوان ژورنال: Journal of Japan Society for Fuzzy Theory and Systems
سال: 1999
ISSN: 0915-647X,2432-9932
DOI: 10.3156/jfuzzy.11.3_134