Real-time control and application with self-tuning PID-type fuzzy adaptive controller of an inverted pendulum

Abstract

Purpose This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers. Design/methodology/approach As inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems. Findings As a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed. Originality/value In this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

Real-Time Swing-Up Control of Non-Linear Inverted Pendulum Using Lyapunov Based Optimized Fuzzy Logic Control

“…For steady-state performance evaluation, the settling times are compared and to determine the transient performance, the number of oscillations exhibited by the system to reach steadystate are observed. In [13], the authors developed Fuzzy logic based adaptive PID controller for swing-up stabilization of pendulum angle. The hardware platform used for validating the experiment results by authors is the same as used to validate this research work.…”

“…. In [13], authors deployed a hybrid self-tuning Fuzzy based adaptive PID controller for swing-up control for a real-time inverted pendulum system. The authors designed two separate adaptive PID controllers to control the cart position and to provide stabilization of the pendulum angle.…”

Development and Control of an MR Brake-Based Passive Force Feedback Data Glove

“…As generic feedback controllers, both the conventional PID and adaptive fuzzy-PID controllers have been widely applied to several applications [48]- [52]. In this study, the two control schemes are adopted for the feedback force control of the FFDG.…”

Improved Distributed Predictive Functional Control With Basic Function and PID Control Structure

“…In [24], the authors presented Fuzzy Particle Swarm Optimization of PID controller as a Conventional Power System Stabilizer CPSS to improve the dynamic stability performance of generating unit during low frequency oscillations. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods were also proposed [25]. Besides, there are also many other crucial research on the combination of PID control and MPC approaches [26]- [29].…”