Dynamic Performance Analysis of Inverted Pendulum System by Using Pd-Fuzzy Logic Controller and Pd Controller

Açıkgöz, Hakan; Kılıç, Erdal; Özçalık, Hasan Rıza; Ganı, Ahmet

doi:10.17366/uhmfd.201429210

Cited by 1 publication

(2 citation statements)

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“…However, the error value for the second PD is the difference between the desired position of the cart and current position. The control variable (u) is the sum of the control variables (u1) and (u2) for both PD controllers (Gani et al, 2014a;Gani et al, 2016). Because derivative control reduces oscillation during transient regime and decreases the overshoot value caused by proportional control, the simultaneous use of proportional control and derivative control create efficient controlling structure non-linear dynamic systems such as an inverted pendulum.…”

Section: Pd Controller Designmentioning

confidence: 99%

“…The two control approaches that will overcome this problem are Takagi-Sugeno Type Fuzzy Logic (FLC) control and Proportional-Derivative (PD) control, which require being familiar with the system dynamics to obtain the best performance. This paper presents a mathematical modeling and analysis of performance comparison between conventional PD controller and Takagi-Sugeno type fuzzy logic controller for an inverted pendulum system (Gani et al, 2014a;Gani et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

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Modelling and Performance Comparison of PD and Takagi-Sugeno Type Fuzzy Logic Controllers for Inverted Pendulum System

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et al. 2016

Bitlis Eren University Journal of Science and Technology

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In recent years, fuzzy logic based modeling and control methods have been increasingly used in the academic field. Inverted pendulum system consists of conventional materials with nonlinear dynamic structure in order to test types of controllers. This paper presents a simulation study of Takagi-Sugeno type fuzzy logic controllers for an inverted pendulum (cart-pole) system. A Takagi-Sugeno method was applied to the inverted-pendulum system, which can balance the pendulum over a greater range of pole angle and cart position. Takagi-Sugeno fuzzy logic controller proposed in this study is compared with the conventional PD controller in order to demonstrate the performance of the proposed controller. This study aims to determine the best control strategy that provides better performance in terms of pendulum's angle and cart's position. A Takagi-Sugeno type fuzzy logic controller yields better results. Simulation results demonstrated that the proposed fuzzy controller is effectiveness and robust.

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Section: Pd Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%