T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

Elkinany, Boutaina; Alfidi, Mohammed; Chaibi, Redouane; Chalh, Zakaria

doi:10.1155/2020/8835511

Cited by 6 publications

(6 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…All documentation (MATLAB code/Simulink model used was retrieved from [23]. Suggestions for future research could include expansion of our method using a type 2 fuzzy membership function as well as the Tagaki-Sugeno FLC rather than the Mandani one [34][35][36].…”

Section: Discussionmentioning

confidence: 99%

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

et al. 2022

View full text Add to dashboard Cite

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.

show abstract

Section: Discussionmentioning

confidence: 99%

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

et al. 2022

View full text Add to dashboard Cite

show abstract

“…The mathematical model of double inverted pendulum can be obtained by using the Lagrangian equation for mechanical motion: 𝐿 = 𝑇 − 𝑉 (7) where 𝐿, 𝑇, dan 𝑉 are the Lagrange Function, kinetic energy and potential energy, respectively [12].…”

Section: Derivation Of Double Inverted Pendulum Modelmentioning

confidence: 99%

LQR and Fuzzy-PID Control Design on Double Inverted Pendulum

Damayanti

2024

CAUCHY

View full text Add to dashboard Cite

Double inverted pendulum is a non-linear and unstable system. Double inverted pendulum can be stabilized in the upright position by providing control to the system. In this research we compare two types of controllers namely Linear Quadratic Regulator (LQR) and Fuzzy-PID. The objective is to determine the control strategy that provides better performance on the position of the cart and pendulum angle. We modelled the system which is then linearized and given control. From the simulation results, it is proven that LQR and Fuzzy-PID controllers have been successfully designed to stabilize the double inverted pendulum. However, when given a disturbance in the form of noise step, the LQR controller has not been able to achieve the desired reference for up to 20 seconds. In another hand, the Fuzzy-PID controller is able to achieve the desired reference after 8 seconds. Therefore, it can be concluded that the Fuzzy-PID controller when applied to the Double Inverted pendulum system has better performance than the LQR controller.

show abstract

“…It can be seen that the aggregated HSMC technique has a much shorter response time than the incremental and combining HSMC technique. It also has less response time as compared to the study of Elkinany et al [20]. Hence, aggregated HSMC technique is proposed to stabilize the DRIP system.…”

Section: Numerical Simulationsmentioning

confidence: 99%

Stabilization of Double Inverted Pendulum Systems Based on Hierarchical Sliding Mode Control Techniques

Idrees,

Ullah,

Younis

et al. 2023

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The double rotary inverted pendulum (DRIP) system belongs to the class of under-actuated mechanical systems, and it is a highly nonlinear, unstable, and benchmark system to test the different control techniques. This paper successfully designed the nonlinear hierarchical sliding mode control (HSMC) techniques to stabilize the DRIP system. We compare the performance of these techniques numerically with each other and with the previously designed control technique. We propose an aggregated HSMC technique as it has a much shorter stabilization time than other designed techniques.

show abstract

T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum

Cited by 6 publications

References 23 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

LQR and Fuzzy-PID Control Design on Double Inverted Pendulum

Stabilization of Double Inverted Pendulum Systems Based on Hierarchical Sliding Mode Control Techniques

Contact Info

Product

Resources

About