Elsayed, B.A. and Hassan, Mohamed Mohsen Abdel-Naeim and Mekhilef, Saad (2013) Decoupled third-order fuzzy sliding model control for cart-inverted pendulum system. Applied Mathematics & Information Sciences, 7 (1). pp. 193-201. ISSN 1935-0090,
Full text not available from this repository.Abstract
Cart Inverted Pendulum (CIP) system is a benchmark problem in nonlinear automatic control. It is commonly used to verify the robustness of any proposed nonlinear controller. CIP is mostly represented by two second order differential equations to avoid complexity due to the DC motor dynamics. This representation is not practical for the real CIP dynamics and might lead to instability. Therefore in this paper, two third-order differential equations were derived to combine the pendulum system and DC motor dynamics to have a more realistic mathematical model. Friction between the cart and rail was included in the system equations through a nonlinear friction model. To stabilize the obtained nonlinear electromechanical CIP model, a third-order Fuzzy Sliding Mode Controller (FSMC) was designed. The chattering of the control signal was eliminated using general bill shape membership functions for the Fuzzy controller. Simulation results proved the robustness of the proposed FSMC over Linear Quadratic Regulator Controller (LQRC). For instant, the overshoot in the cart position response was reduced by 300.
| Item Type: | Article |
|---|---|
| Funders: | UNSPECIFIED |
| Additional Information: | You can e-mail to me for the full text of my jurnal at mohsenegypt@um.edu.my |
| Uncontrolled Keywords: | Sliding mode control fuzzy controller cart-inverted pendulum system swing-up design stabilization logic |
| Subjects: | T Technology > TS Manufactures |
| Divisions: | Faculty of Engineering |
| Depositing User: | Mr. Mohammed Salim Abd Rahman |
| Date Deposited: | 04 Jul 2013 01:59 |
| Last Modified: | 25 Oct 2019 04:19 |
| URI: | http://eprints.um.edu.my/id/eprint/6624 |
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