minimum time swing up and stabilization of rotary inverted pendulum using pulse step control

نویسندگان

p melba mary

n. s. marimuthu

چکیده

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 controller that swings up the pendulum, keepsit upright and maintains the arm position. in the general intelligent hybridcontroller, a pd controller with a positive feedback is designed for swinging upand a fuzzy balance controller is designed for stabilization. in order to achievethe swing up in a minimal time, a controller named minimum time intelligenthybrid controller is proposed which is precisely a pd controller together witha pulse step controller for swinging up along with the fuzzy balance controllerfor stabilization. the impulsive control action is tuned by trial and errorto achieve the minimum-time swing-up. an energy based switching controlmethod is proposed to switch over from swing up mode to stabilization mode.extensive computer simulation results demonstrate that the swing up timeof the proposed minimum-time controller is significantly less than that of theexisting general hybrid nonlinear controller.

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عنوان ژورنال:
iranian journal of fuzzy systems

ناشر: university of sistan and baluchestan

ISSN 1735-0654

دوره 6

شماره 3 2009

میزبانی شده توسط پلتفرم ابری doprax.com

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