Design and Performance of LQR and LQR based Fuzzy Controller for Double Inverted Pendulum System

2013 ◽  
Vol 1 (3) ◽  
pp. 143-146 ◽  
Author(s):  
Narinder Singh Bhangal
Keyword(s):  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
And Performance

Fuzzy Control of an Inverted Pendulum

1996 ◽  
Author(s):  
Tuna Balkan ◽  
Mehmet Emin Ari
Keyword(s):  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Angular Position ◽  
Upright Position ◽  
Control Signal ◽  
Position Measurement ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
And Performance ◽  
The Stability

Abstract An inverted pendulum system has been designed and constructed as a physical model of inherently unstable mechanical systems. The vertical upright position of a pendulum is controlled by changing the horizontal position of a cart to which the pendulum is hinged. The stability of the system has been investigated when a fuzzy controller is used to produce the control signal, while making a single measurement. It has been shown that by using simple fuzzy rules to allow real time computation with a single angular position measurement, the system can not be made absolutely stable. However, the stability and performance of the system have been considerably improved by shrinking the membership functions of angular position, computed angular velocity and control signal when inverted pendulum is very close to the vertical upright position.

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.

Sign in / Sign up

Export Citation Format

Share Document