Development of a fuzzy-state feedback regulator for stabilizing a flexible inverted pendulum system

2021 ◽  
pp. 107754632110429
Author(s):  
Pouriya Pourgholam ◽  
Hamid Moeenfard
Keyword(s):  
Fuzzy System ◽  
State Feedback ◽  
Equations Of Motion ◽  
Pole Placement ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Reduced Order Observer ◽  
Pole Placement Control ◽  
Fuzzy State

Accurate modeling and efficient control of inverted pendulums have always been a challenge for researchers. So, the current research aims to achieve the following objectives: (I) proposing a comprehensive dynamic model for the inverted pendulums which accounts for the flexibility of the pendulum bar and (II) suggesting an appropriate supervisory fuzzy-pole placement control strategy for stabilizing the pendulum system. Using a Lagrangian formulation, the equations of motion are derived and linearized. Then, a state feedback controller with a reduced-order observer is designed to stabilize the system. Closed-loop simulations reveal that at least six modes shall be considered in the dynamic equations. To improve the quality of the transient response, a novel fuzzy system is developed for real-time assignment of the controller poles. Simulation results demonstrate that the control quality is significantly improved by adding a supervisory fuzzy system to the control loop. The developed approach for dynamic modeling of the system, and the idea of multi-level fuzzy-pole placement control architecture developed in this paper, may be successfully applied to improve the response specifications in other dynamic systems.

scholarly journals T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Boutaina Elkinany ◽  
Mohammed Alfidi ◽  
Redouane Chaibi ◽  
Zakaria Chalh
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Pendulum System ◽  
Great Ability ◽  
Control Approach ◽  
Feedback Model ◽  
Inverted Pendulum System ◽  
System Controller ◽  
Fuzzy State

This article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base. To achieve this objective, we designed a dynamic Lagrangian conceptualization of the double inverted pendulum and a state feedback representation based on the simple convex polytypic transformation. Finally, we used the fuzzy state feedback approach to linearize the mathematical nonlinear model and to develop a fuzzy controller H ∞ , given its great ability to simplify nonlinear systems in order to reduce the error rate and to increase precision. In our virtual conceptualization of the inverted pendulum, we used MATLAB software to simulate the movement of the system before applying a command on the upper part of the system to check its stability. Concerning the nonlinearities of the system, we have found a state feedback fuzzy control approach. Overall, the simulation results have shown that the fuzzy state feedback model is very efficient and flexible as it can be modified in different positions.

scholarly journals CONTROL OF THE TWO DoF INVERTED PENDULUM

2014 ◽  
Vol 4 (2) ◽  
Author(s):  
M. Fajar
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Multibody System ◽  
Pole Placement ◽  
Pendulum System ◽  
System A ◽  
Inverted Pendulum System ◽  
Feedback Method ◽  
And Control ◽  
Pole Placement Control

This paper describes how to simulate and control the two DoF inverted pendulum system, a dynamics of multibody system. The control strategy used is based on the conventional feedback method for the stabilisation of the two DoF inverted pendulum system. Simulation study has been done shows that conventional method i.e. pole placement control strategy is capable to control multi input and multi output of the two DoF inverted pendulum system successfully. The result shows that pole placement control strategy gives satisfactory response that is presented in time domain.

Robust Stabilizing Controller Design for Inverted Pendulum System

2014 ◽  
Vol 71 (1) ◽  
Author(s):  
Hazem I. Ali
Keyword(s):  
Steady State ◽  
Time Domain ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
H Infinity ◽  
Pendulum System ◽  
Stabilizing Controller ◽  
Inverted Pendulum System ◽  
System Uncertainties

In this paper the design of robust stabilizing state feedback controller for inverted pendulum system is presented. The Ant Colony Optimization (ACO) method is used to tune the state feedback gains subject to different proposed cost functions comprise of H-infinity constraints and time domain specifications. The steady state and dynamic characteristics of the proposed controller are investigated by simulations and experiments. The results show the effectiveness of the proposed controller which offers a satisfactory robustness and a desirable time response specifications. Finally, the robustness of the controller is tested in the presence of system uncertainties and disturbance.

scholarly journals An energy saving method of stable control of inverted pendulum system when affected by external interference using auxiliary pendulum

2019 ◽  
Vol 104 ◽  
pp. 01015 ◽  
Author(s):  
Chiem Nguyen ◽  
Hai Phan ◽  
Hung Nguyen
Keyword(s):  
Inverted Pendulum ◽  
System Quality ◽  
External Interference ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Time Optimal ◽  
Reduce Energy Consumption ◽  
The Cost ◽  
Stable Control

This research aims to develop a method to reduce energy consumption when controlling an inverted pendulum system that is affected by external interference. In this paper, the authors use the quasi time-optimal control law and add on an inverted pendulum an auxiliary pendulum to absorb the energy of the external interference effects, to reduce the cost of controlling the energy stable inverted pendulum while ensuring system quality. The quality of the method is demonstrated through simulation results. The effectiveness of this method is shown by comparison with the method of no damping.

The Robust Control Research for Non-Linear Inverted Pendulum System in Mechanical Industry

2013 ◽  
Vol 675 ◽  
pp. 31-34
Author(s):  
Hong Xing Li ◽  
Yong Xin Zhang
Keyword(s):  
State Feedback ◽  
Inverted Pendulum ◽  
Uncertain System ◽  
Paper Analysis ◽  
Pendulum System ◽  
Numerical Examples ◽  
Inverted Pendulum System ◽  
Non Linear ◽  
Control Research ◽  
Sufficiency Conditions

Inverted pendulum system is a non-linear，natural instability and uncertain system. As a controlled objects of control system in mechanical industry, it can be analysis and verification by different control theory and methods. The paper analysis the non-linear inverted pendulum system, then deduces sufficiency conditions of the existence of controller with state feedback. It utilizes standard digital software to get the answer. The feasibility and robustness is demonstrated by numerical examples.

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