A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers

Kharola, Ashwani; Patil, Pravin P.; Raiwani, Suyashi; Rajput, Deepak

doi:10.1016/j.pisc.2016.03.016

Cited by 29 publications

(17 citation statements)

References 14 publications

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“…En este mismo sentido, debe reforzarse que para observar con mayor detalle el comportamiento de la variable de interés (% error) en ambos controladores, se muestran solo 2,5 horas de trabajo en la figura 5, de manera que se pueda detallar su funcionamiento. Por su parte, al observar el comportamiento oscilante del porcentaje de error del controlador difuso, es posible inferir que a pesar de que dicho valor es en gran medida pequeño, es posible mejorar el sistema haciendo que estas oscilaciones sean menores en amplitud (Kharola et al, 2016).…”

Section: Resultados Y Discusiónunclassified

Modelado del Microclima de un Cultivo de Sandía ( Citrullus lanatus ) en la Sub-región Sabana del Departamento de Sucre, Colombia

2018

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El objetivo del presente estudio fue modelar el microclima en un cultivo de sandía (Citrullus lanatus) en el departamento de Sucre en Colombia. Se realizó un estudio de simulación como alternativa de control automático para sistemas de riego. Metodológicamente, se utilizaron los modelos de Penman-Monteith y de balance hídrico para analizar el requerimiento hídrico del cultivo. Como estrategia de control se utilizaron controladores de tipo PID y difuso para comparar su comportamiento y establecer la mejor opción frente a las dificultades de recurso hídrico del cultivo bajo las condiciones climáticas de la sabana del departamento de Sucre. Se concluye que, en el modelamiento aplicado el controlador PID arrojó mejor rendimiento (aproximadamente de 3,3 veces) frente al controlador difuso en términos de un ciclo de trabajo de 24 horas. Además, con el controlador PID también se obtuvieron mejores resultados en términos de consumo energético, cantidad de líquido y estabilidad del sistema, frente al controlador difuso.

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Section: Resultados Y Discusiónunclassified

Modelado del Microclima de un Cultivo de Sandía ( Citrullus lanatus ) en la Sub-región Sabana del Departamento de Sucre, Colombia

2018

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“…According to the transfer functions (8) and 9, the inverted pendulum with the equilibrium point is unstable system. Due to unstable behavior of the upright equilibrium position, identification of the inverted pendulum represents a difficult task.…”

Section: Research Methods 21 Mathematical Model Of the Cart Invertedmentioning

confidence: 99%

“…In [7], a simulation study on PID and LQR control of a cart inverted pendulum system is carried out with and without disturbance input. Furthermore, in [8], control of a cart inverted pendulum on an inclined surface is performed using fuzzy and PID controllers. An ANFIS controller is proposed in [9] as an intelligent control technique to control an inverted pendulum.…”

Section: Introductionmentioning

confidence: 99%

Using real interpolation method for adaptive identification of nonlinear inverted pendulum system

Tin¹,

Minh²,

Trang³

et al. 2019

IJECE

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<p>In this paper, we investigate the inverted pendulum system by using real interpolation method (RIM) algorithm. In the first stage, the mathematical model of the inverted pendulum system and the RIM algorithm are presented. After that, the identification of the inverted pendulum system by using the RIM algorithm is proposed. Finally, the comparison of the linear analytical model, RIM model, and nonlinear model is carried out. From the results, it is found that the inverted pendulum system by using RIM algorithm has simplicity, low computer source requirement, high accuracy and adaptiveness in the advantages.</p>

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“…As outputs to control are: the horizontal position of the TWABR at the x coordinate y1 = x1 and the angular position of the main body of the TWABR y2 = x3 =  B. Now, assuming that the used stepper motor has a constant output torque, it can be considered that what is going to be controlled is the angular velocity of the stepper motor output shaft that corresponds to the rotation velocity of each wheel ,which is related to the input motor torque according to the relationship (25):…”

Section: B Linearized Twabr Model In the State Spacementioning

confidence: 99%

Modeling and Control of a Two Wheeled Self-Balancing Robot: a didactic platform for control engineering education.

Jiménez¹,

Jiménez²,

Ruge³

2020

Proceedings of the 18th LACCEI International Multi-Conference for Engineering, Education, and Technology: Engineering, Integrat

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This paper describes the modeling, instrumentation and control of a Two Wheeled Automatic Balancing Robot (TWABR). This mechatronic system has two independently driven wheels to balance in the gravity center above the axis of the wheels´ rotation. Its dynamic behavior has also served to illustrate fundamental concepts of stability, nonlinear dynamics, and modern control theory. The TWABR was designed using the ESP32 microcontroller as a digital control unit and the MPU6050 Inertial Measurement Unit as the main sensor. The dynamic model of the TWABR was analyzed through its representation in nonlinear differential equations and its linearized representation in the state space. With the linearized mathematical model around the equilibrium point, a classic PID controller and an optimal LQR controller were designed and simulated. The control objective was to balance the TWABR in the vertical equilibrium position, even when it is subjected to disturbances. The two control algorithms were simulated in the Matlab / Simulink software platforms and implemented digitally on the physical TWABR system. As a result, the experimental comparison of the performance of the implemented controllers was performed, where its stabilization, control robustness and adequate dynamic response at the equilibrium point of the TWABR were evaluated.

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A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers

Cited by 29 publications

References 14 publications

Modelado del Microclima de un Cultivo de Sandía ( Citrullus lanatus ) en la Sub-región Sabana del Departamento de Sucre, Colombia

Modelado del Microclima de un Cultivo de Sandía ( Citrullus lanatus ) en la Sub-región Sabana del Departamento de Sucre, Colombia

Using real interpolation method for adaptive identification of nonlinear inverted pendulum system

Modeling and Control of a Two Wheeled Self-Balancing Robot: a didactic platform for control engineering education.

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