Real-time control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum

PurposeThis paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.Design/methodology/approachAs inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.FindingsAs a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.Originality/valueIn this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

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A Case Study on Analytical Analysis of the Inverted Pendulum Real-Time Control System

10.21236/ada373286 ◽

1999 ◽

Cited By ~ 10

Author(s):

Danbing Seto ◽

Lui Sha

Keyword(s):

Control System ◽

Real Time ◽

Inverted Pendulum ◽

Real Time Control ◽

Analytical Analysis ◽

Time Control

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Correlation of combined sewer overflow reduction due to real-time control and resulting effect on the oxygen concentration in the river

Water Science & Technology ◽

10.2166/wst.1998.0504 ◽

1998 ◽

Vol 37 (12) ◽

pp. 69-76 ◽

Cited By ~ 7

Author(s):

W. Rauch ◽

P. Harremoës

Keyword(s):

Real Time ◽

Oxygen Concentration ◽

Drainage System ◽

Performance Criteria ◽

Combined Sewer Overflow ◽

Real Time Control ◽

Time Control ◽

Resulting Effect ◽

Combined Sewer ◽

Sewer Overflow

Real-time control of the sewer system is a frequently applied measure for the abatement of pollution caused by urban runoff in the receiving water. Although the goal is an improvement of the water quality the actual aim of real-time control is usually formulated as the reduction/avoidance of combined sewer overflow. However, testing a virtual drainage system by means of a three-month rain series, hardly any correlation between the combined sewer overflow reduction and the resulting effect on the oxygen concentration in the river has been found. The efficiency of real-time control for pollution abatement by means of artificial performance criteria has to be doubted.

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The Design of Real-Time Control System Based on Single-Inverted Pendulum

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.850-851.553 ◽

2013 ◽

Vol 850-851 ◽

pp. 553-556

Author(s):

Qun Yong Ou

Keyword(s):

Control System ◽

Control Problem ◽

Real Time ◽

Linear Model ◽

Inverted Pendulum ◽

Control Algorithms ◽

Control Board ◽

Real Time Control ◽

Control Software ◽

Time Control

An inverted pendulum is a classic control problem and is widely used as a benchmark for testing various control algorithms. First, this paper analyse the dynamic and non-linear model of the inverted pendulum, then focus on the real-time control of the inverted pendulum, we developed real-time control software for the single-stage inverted pendulum by using Visual C++ 2010, its mainly operate API functions to control board and implement various control algorithms.

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Real-time control of an inverted pendulum system using complementary neural network and optimal techniques

Proceedings of 1994 American Control Conference - ACC '94 ◽

10.1109/acc.1994.735019 ◽

2005 ◽

Cited By ~ 9

Author(s):

J. Nelson ◽

L.G. Kraft

Keyword(s):

Neural Network ◽

Real Time ◽

Inverted Pendulum ◽

Real Time Control ◽

Pendulum System ◽

Time Control ◽

Inverted Pendulum System

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Fuzzy logic-based real-time control for a twin-rotor MIMO system using GA-based optimization

World Journal of Engineering ◽

10.1108/wje-03-2017-0075 ◽

2018 ◽

Vol 15 (2) ◽

pp. 192-204 ◽

Cited By ~ 2

Author(s):

Arpit Jain ◽

Satya Sheel ◽

Piyush Kuchhal

Keyword(s):

Fuzzy Logic ◽

Real Time ◽

Mimo System ◽

System Optimization ◽

Mathematical Function ◽

Real Time Control ◽

Content Type ◽

Time Control ◽

Non Linear System ◽

Twin Rotor

Purpose The purpose of this paper is to study the application of entropy based optimized fuzzy logic control for a real-time non-linear system. Optimization of the fuzzy membership function (MF) is one of the most explored areas for performance improvement of the fuzzy logic controllers (FLC). Conversely, majority of previous works are motivated on choosing an optimized shape for the MF, while on the other hand the support of fuzzy set is not accounted. Design/methodology/approach The proposed investigation provides the optimal support for predefined MFs by using genetic algorithms-based optimization of fuzzy entropy-based objective function. Findings The experimental results obtained indicate an improvement in the performance of the controller which includes improvement in error indices, transient and steady-state parameters. The applicability of proposed algorithm has been verified through real-time control of the twin rotor multiple-input, multiple-output system (TRMS). Research limitations/implications The proposed algorithm has been used for the optimization of triangular sets, and can also be used for the optimization of other fussy sets, such as Gaussian, s-function, etc. Practical implications The proposed optimization can be combined with other algorithms which optimize the mathematical function (shape), and a potent optimization tool for designing of the FLC can be formulated. Originality/value This paper presents the application of a new optimized FLC which is tested for control of pitch and yaw angles in a TRMS. The performance of the proposed optimized FLC shows significant improvement when compared with standard references.

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Joint Self-Tuning With Cartesian Setpoints

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3143757 ◽

1986 ◽

Vol 108 (2) ◽

pp. 146-150 ◽

Cited By ~ 4

Author(s):

P. G. Backes ◽

G. G. Leininger ◽

Chun-Hsien Chung

Keyword(s):

Real Time ◽

Control Method ◽

Hybrid Control ◽

Pole Placement ◽

Real Time Control ◽

Time Control ◽

Self Tuning ◽

Cause Of Error ◽

Time Position ◽

Manipulator Control

A joint coordinate self-tuning manipulator control method is presented which uses Cartesian setpoints. The method is capable of both position and hybrid control. Position and force errors are transformed from Cartesian coordinates to position and force errors at the joints. The position and force errors at each joint are combined into one hybrid error that is eliminated using pole-placement self-tuning. Real time position and hybrid control results are given. No prior knowledge of manipulator or load dynamics is required and real time control results show that the goal of consistent control with changing load dynamics is achieved. The major cause of error in position and hybrid control is the large friction effects in the joints.

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