Fuzzy Optimal Control for Double Inverted Pendulum
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Publication Date
2012-07 -
Publisher
IEEE -
Citation
Al-Hadithi, B.M., Barragán Piña, A.J., Andujar Marquez, J.M., Jiménez Avello, A.: "Fuzzy Optimal Control for Double Inverted Pendulum. En: "7th IEEE Conference on Industrial Electronics and Applications (ICIEA)", 18/07/2012 - 20/07/2012, Singapur, Singapur. ISBN 978-1-4577-2118-2. págs. p. 1-5., (2012) -
Abstract
In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.
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Fuzzy_optimal.pdf | 704.3Kb | View/ | There is no description for this item |
Fichero | Tamaño | Formato |
| Description |
---|---|---|---|---|
Fuzzy_optimal.pdf | 704.3Kb | View/ | There is no description for this item |