Stabilization Control of Double Inverted Pendulum System

Li, Qingrui; Tao, Wenhua; Sun, Na; Chong-yang, Zhang; Yao, Ling-Hong

doi:10.1109/icicic.2008.662

Cited by 15 publications

(4 citation statements)

References 6 publications

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“…Therefore, 6 state variables can be merged into 2 groups to generate 2 output variables. There are alternative ways to develop the fusion function [32]. Engineers may set the position and speed of the first pendulum or the position and speed of the cart as the important elements of the problem.…”

Section: Creating the Fusion Functionmentioning

confidence: 99%

Design of a Fuzzy Logic Controller for the Double Pendulum Inverted on a Cart

et al. 2022

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The double-inverted pendulum (DIP) constitutes a classical problem in mechanics, whereas the control methods for stabilizing around the equilibrium positions represent the classic standards of control system theory and various control methods in robotics. For instance, it functions as a typical model for the calculation and stability of walking robots. The present study depicts the controlling of a double-inverted pendulum (DIP) on a cart using a fuzzy logic controller (FLC). A linear-quadratic controller (LQR) was used as a benchmark to assess the effectiveness of our method, and the results showed that the proposed FLC can perform significantly better than the LQR under a variety of initial system conditions. This performance is considered very important when the reduction of the peak system output is concerned. The proposed controller equilibration and velocity tracking performance were explored through simulation, and the results obtained point to the validity of the control method.

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Section: Creating the Fusion Functionmentioning

confidence: 99%

Design of a Fuzzy Logic Controller for the Double Pendulum Inverted on a Cart

et al. 2022

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“…A locally recurrent neural network was used to create a PID like neural network non  Manuscript received February 18, 2013; revised April 23, 2013 linear adaptive controller for uncertain multivariable single input and multi output system [4]. A reconfigurable robust H ∞ linear parameter varying controller is developed [5] A fusion function is designed using information fusion, six output variables of the system is synthesized as two variables error and change of error [6]- [8].But the performance and comparison of proposed controller with LQR is not made. This paper presents investigations of performance comparison between LQR and LQR based fuzzy control for a double inverted pendulum system.…”

Section: Introductionmentioning

confidence: 99%

Design and Performance of LQR and LQR based Fuzzy Controller for Double Inverted Pendulum System

Bhangal

2013

JOIG

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The objective of this paper is to compare performance between two type of controller for a double inverted pendulum system. Double inverted pendulum is a non-linear, unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine the control strategy that to delivers better performance with respect to pendulum angle's and cart position. In this paper LQR based fuzzy controller is designed and its performance is compared with Linear Quadratic Regulator controller using Matlab and Simulink. The results shows that LQR based fuzzy controller produced better response as compared to LQR control strategy.  Index Terms-double inverted pendulum, LQR, fuzzy control, fusion function Narinder Singh Bhangal has done his B.

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“…Nearly all works on pendulum control concentrate on two problems: pendulums swing up control design and stabilization of the inverted pendulums. In [5] the stabilization control of DIP is developed. The authors linearize the DIP in one operating point which reduces its accuracy.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy optimal control for double inverted pendulum

Al‐Hadithi

Barragán

Andújar

et al. 2012

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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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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Stabilization Control of Double Inverted Pendulum System

Cited by 15 publications

References 6 publications

Design of a Fuzzy Logic Controller for the Double Pendulum Inverted on a Cart

Design of a Fuzzy Logic Controller for the Double Pendulum Inverted on a Cart

Design and Performance of LQR and LQR based Fuzzy Controller for Double Inverted Pendulum System

Fuzzy optimal control for double inverted pendulum

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