Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system

Saifizul, A.A. and Zainon, Z. and Abu Osman, Noor Azuan and Azlan, C.A. and Ibrahim, U.F.S.U. (2006) Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system. American Journal of Applied Sciences, 3 (4). pp. 1795-1802. ISSN 1546-9239

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Abstract

A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pendulum in the unstable position. To deal with this system, a lot of control techniques have been used on the basis of linearized or nonlinear model. In real-time implementation, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up and a stabilization controller. In this paper, first, the mathematical models of cart and single inverted pendulum system are presented. Then, the Position-Velocity controller is designed to swingup the pendulum considering physical behavior. For stabilizing the inverted pendulum, a Takagi- Sugeno fuzzy controller with Adaptive Neuro-Fuzzy Inference System (ANFIS) architecture is used to guarantee stability at unstable equilibrium position. Experimental results are given to show the effectiveness of these controllers.

Item Type: Article
Uncontrolled Keywords: Takagi-sugeno fuzzy, ANFIS, self�erecting inverted pendulum
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 14 Jan 2013 03:46
Last Modified: 24 Jan 2020 03:15
URI: http://eprints.um.edu.my/id/eprint/4439

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