Particle swarm optimization and spiral dynamic algorithm-based interval type-2 fuzzy logic control of triple-link inverted pendulum system: A comparative assessment

The control schemes of a wheelchair having two wheels with movable payload utilizing the concept of a double-link inverted pendulum have been investigated in this article. The proposed wheelchair has been simulated using SimWise 4D software considering the most efficient parameters. These parameters are extracted using the spiral dynamic algorithm while being controlled with interval type-2 fuzzy logic controller (IT2FLC). The robustness and stability of the implemented controller are assessed under different situations including standing upright, forward motion and application of varying directions and magnitudes of outer disturbances to movable (up and down) system payload. It is shown that the two-wheeled wheelchair adopted by the newly introduced controller has achieved a 94% drop in torque for both Link1 and Link2 and more than 98% fall in distance travelled in comparison with fuzzy logic control type-1 (FLCT1) controller employed in an earlier design. The present study has further considered the increased nonlinearity and complexity of the additional moving payload. From the outcome of this study, it is obvious that the proposed IT2FLC-spiral dynamic algorithm demonstrates better performance than FLCT1 to manage the uncertainties and nonlinearities in case of a movable payload two-wheel wheelchair system.

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Optimal Interval Type 2 Fuzzy PID Controller and its Application in Inverted Pendulum System

2019 IEEE 2nd International Conference on Automation, Electronics and Electrical Engineering (AUTEEE) ◽

10.1109/auteee48671.2019.9033265 ◽

2019 ◽

Author(s):

Ning Sheng ◽

Xiangjian Chen ◽

Huilin Ge ◽

Di Li

Keyword(s):

Pid Controller ◽

Inverted Pendulum ◽

Fuzzy Pid ◽

Pendulum System ◽

Optimal Interval ◽

Fuzzy Pid Controller ◽

Inverted Pendulum System ◽

Interval Type

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Design of Vectored Sum-Based Fuzzy Logic Control System and Its Application to Segway-Type Mobile Robot

International Journal of Humanoid Robotics ◽

10.1142/s0219843617500037 ◽

2017 ◽

Vol 14 (02) ◽

pp. 1750003 ◽

Cited By ~ 4

Author(s):

Hyun-Ho Yoo ◽

Byung-Jae Choi

Keyword(s):

Fuzzy Logic ◽

Mobile Robot ◽

Control Systems ◽

Fuzzy Logic Control ◽

Inverted Pendulum ◽

Balance Control ◽

Pendulum System ◽

Logic Control ◽

Inverted Pendulum System ◽

Single Input

The study of individual mobile devices has been widely conducted. In this paper, we propose the design of some fuzzy logic control systems for the control of the Segway-type mobile robot, which is a kind of inverted pendulum system. We first design two conventional fuzzy logic control systems for position and balance control of the Segway-type mobile robot. And then, we design another two fuzzy logic control systems with a single input variable for position and its balance control. We also propose a new defuzzification method called vectored sum scheme. Finally, in order to check the feasibility of the proposed systems we present some simulation examples.

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