Publicación: Control of a chain pendulum: A fuzzy logic approach
Fecha
2016-02-12
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info:eu-repo/semantics/openAccess
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Editor
Taylor and Francis Group
Resumen
In this paper, we present a real application of computational intelligence. Fuzzy control of a non-linear rotary chain pendulum is proposed and implemented on real prototypes. The final aim is to obtain a larger region of attraction for the stabilization of this complex system, that is, a more robust controller. As it is well-known, fuzzy logic exploits the tolerance for imprecision, uncertainty and partial truth to achieve tractability, robustness and low solution cost when dealing with complex systems. In this case, the control strategy is based on a Takagi-Sugeno fuzzy model of the strongly non-linear multivariable system. Simulation and experimental results on the real plant have been obtained and tested in a rotary inverted pendulum and in a double rotary inverted pendulum. They have been compared to other feedback control
strategies such as Full State Feedback or Linear Quadratic Regulator with encouraging results. Fuzzy control allows to enlarge the stability region of control. Indeed, the region of attraction and therefore the stabilization has been enlarged up to over 17% for the real system.
Descripción
The registered version of this article, first published in International Journal of Computational Intelligence Systems, is available online at the publisher's website: Taylor and Francis Group, https://doi.org/10.1080/18756891.2016.1150001
La versión registrada de este artículo, publicado por primera vez en International Journal of Computational Intelligence Systems, está disponible en línea en el sitio web del editor: Taylor and Francis Group, https://doi.org/10.1080/18756891.2016.1150001
La versión registrada de este artículo, publicado por primera vez en International Journal of Computational Intelligence Systems, está disponible en línea en el sitio web del editor: Taylor and Francis Group, https://doi.org/10.1080/18756891.2016.1150001
Categorías UNESCO
Palabras clave
intelligent control, fuzzy logic, rotary inverted pendulum, stabilization, Takagi-Sugeno model, region of attraction, robustness
Citación
Aranda-Escolástico, E., Guinaldo, M., Santos, M., & Dormido, S. (2016). Control of a Chain Pendulum: A fuzzy logic approach. International Journal of Computational Intelligence Systems, 9(2), 281–295. https://doi.org/10.1080/18756891.2016.1150001
Centro
Facultades y escuelas::E.T.S. de Ingeniería Informática
Departamento
Ingeniería de Software y Sistemas Informáticos