This paper proposes an intelligent control approach towards Inverted Pendulum. Inverted Pendulum is a well-known topic in process control and offering a various range of research in the field of the control engineering. The purpose of this report is simulating an inverted pendulum system using a classic supervisory fuzzy controller. In this study, a mamdani fuzzy controller was first designed to control the pendulum angle, and then a non-fuzzy supervisory controller was added to swing-up the system and balance the pendulum. Fuzzy controller is an intelligent controller based on the model of fuzzy logic, it does not require accurate mathematical modelling of the system and it can handle complex and nonlinear systems without linearization. Our objective is to implement a classic supervisory fuzzy controller and demonstrate its application to Inverted Pendulum. The maximum initial angle of the inverse pendulum, for which the fuzzy control system is capable of stabilizing the pendulum, is calculated to be 180 degrees. After designing the controller, the consistency of this closed loop system against noise and disturbance inputs and the change in the length and mass of the inverse pendulum has been investigated. ; The purpose of this paper is simulating an inverted pendulum system using a classic supervisory fuzzy controller.
A Simulation of Classic Supervisory Fuzzy Controller of an Inverted Pendulum
2019-02-28
Conference paper
Electronic Resource
English
DDC: | 629 |
Quantum Fuzzy Controller for Inverted Pendulum System Based on Quantum Genetic Optimization
BASE | 2017
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