Double Rotary Inverted Pendulum (DRIP) is a member of the mechanical under-actuated system which is unstable and nonlinear. The DRIP has been widely used for testing different control algorithms in both simulation and experiments. The DRIP control objectives include Stabilization control, Swing-up control and trajectory tracking control. In this research, we present the design of an intelligent controller called “hybrid Fuzzy-LQR controller” for the DRIP system. Fuzzy logic controller (FLC) is combined with a Linear Quadratic Regulator (LQR). The LQR is included to improve the performance based on full state feedback control. The FLC is used to accommodate nonlinearity based on its IF-THEN rules. The proposed controller was compared with the Hybrid PID-LQR controller. Simulation results indicate that the proposed hybrid Fuzzy-LQR controllers demonstrate a better performance compared with the hybrid PID-LQR controller especially in the presence of disturbances.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Performance Comparisons Of Hybrid Fuzzy-LQR And Hybrid PID-LQR Controllers On Stabilizing Double Rotary Inverted Pendulum


    Beteiligte:

    Erscheinungsdatum :

    2020-03-20


    Anmerkungen:

    doi:10.31258/Jamt.1.2.71-80
    Journal of Applied Materials and Technology; Vol. 1 No. 2 (2020): March 2020; 71-80 ; 2686-0961 ; 2721-446X ; 10.31258/Jamt.1.2



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Fuzzy Logic Control of a Rotary Double Inverted Pendulum System

    Darma, Fatima Aliyu / Ado Dan Isa, Ado Dan / Abdullahi, Auwalu Muhammad et al. | BASE | 2018

    Freier Zugriff

    Controlling the Double Rotary Inverted Pendulum with Multiple Feedback Delays

    Casanova, V. / Salt, J. / Piza, R. et al. | BASE | 2012

    Freier Zugriff

    Revisiting a Double Inverted Pendulum

    Sturgeon, William | AIAA | 2004


    Embedded Control of a Rotary Inverted Pendulum

    Khandeparkar, Ankit | BASE | 2023

    Freier Zugriff

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

    ŞİT, SAMİ / KILIÇ, ERDAL / ÖZÇALIK, HASAN RIZA et al. | BASE | 2016

    Freier Zugriff