Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme
In this work, the design of a Takagi-Sugeno Fuzzy controller with a trajectorytracking scheme for the reaction wheel pendulum is presented. By using the nonlinear state-space model, the system’s operating points are defined, then, the sector nonlinearity method is applied to obtain a linearized mode...
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| Format: | Article |
| Language: | English |
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Instituto Tecnológico Metropolitano
2017-05-01
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| Series: | TecnoLógicas |
| Subjects: | |
| Online Access: | http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/1019/892 |
| _version_ | 1819013460728479744 |
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| author | Víctor Daniel Correa-Ramírez Didier Giraldo-Buitrago Andrés Escobar-Mejía |
| author_facet | Víctor Daniel Correa-Ramírez Didier Giraldo-Buitrago Andrés Escobar-Mejía |
| author_sort | Víctor Daniel Correa-Ramírez |
| collection | DOAJ |
| description | In this work, the design of a Takagi-Sugeno Fuzzy controller with a trajectorytracking scheme for the reaction wheel pendulum is presented. By using the nonlinear state-space model, the system’s operating points are defined, then, the sector nonlinearity method is applied to obtain a linearized model of the system in order to implement linear local regulators. Once the reduced linearized models are obtained, and based on the desired closed loop response, local regulators are designed to generate the global control signal. This signal comprises two terms: The regulator and the reference tracking term. The proposed Fuzzy controller allows the pendulum to reach the upright position from its natural state by swinging it up with minimum tracking error. Once the upright position is reached, a regulator is implemented to operate over the linearized model around the operating point (i.e., upright position). Simulation results present both, the tracking of the angular trajectory and the controller behavior during small perturbations. It is shown that the control signal and the wheel speed remain within their boundaries. Although the control signal saturates, a tracking error less than 0.22 radians is observed. |
| first_indexed | 2024-12-21T02:00:18Z |
| format | Article |
| id | doaj.art-55ed09562436478a8d0b5cb02069fbf4 |
| institution | Directory Open Access Journal |
| issn | 0123-7799 2256-5337 |
| language | English |
| last_indexed | 2024-12-21T02:00:18Z |
| publishDate | 2017-05-01 |
| publisher | Instituto Tecnológico Metropolitano |
| record_format | Article |
| series | TecnoLógicas |
| spelling | doaj.art-55ed09562436478a8d0b5cb02069fbf42022-12-21T19:19:40ZengInstituto Tecnológico MetropolitanoTecnoLógicas0123-77992256-53372017-05-012039Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking schemeVíctor Daniel Correa-Ramírez0Didier Giraldo-Buitrago1Andrés Escobar-Mejía2Universidad Tecnológica de PereiraUniversidad Tecnológica de PereiraUniversidad Tecnológica de PereiraIn this work, the design of a Takagi-Sugeno Fuzzy controller with a trajectorytracking scheme for the reaction wheel pendulum is presented. By using the nonlinear state-space model, the system’s operating points are defined, then, the sector nonlinearity method is applied to obtain a linearized model of the system in order to implement linear local regulators. Once the reduced linearized models are obtained, and based on the desired closed loop response, local regulators are designed to generate the global control signal. This signal comprises two terms: The regulator and the reference tracking term. The proposed Fuzzy controller allows the pendulum to reach the upright position from its natural state by swinging it up with minimum tracking error. Once the upright position is reached, a regulator is implemented to operate over the linearized model around the operating point (i.e., upright position). Simulation results present both, the tracking of the angular trajectory and the controller behavior during small perturbations. It is shown that the control signal and the wheel speed remain within their boundaries. Although the control signal saturates, a tracking error less than 0.22 radians is observed.http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/1019/892Reaction wheel pendulumsector nonlinearityTakagi-Sugeno fuzzy controlparallel distributed compensationtrajectory tracking |
| spellingShingle | Víctor Daniel Correa-Ramírez Didier Giraldo-Buitrago Andrés Escobar-Mejía Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme TecnoLógicas Reaction wheel pendulum sector nonlinearity Takagi-Sugeno fuzzy control parallel distributed compensation trajectory tracking |
| title | Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme |
| title_full | Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme |
| title_fullStr | Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme |
| title_full_unstemmed | Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme |
| title_short | Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme |
| title_sort | fuzzy control of an inverted pendulum driven by a reaction wheel using a trajectory tracking scheme |
| topic | Reaction wheel pendulum sector nonlinearity Takagi-Sugeno fuzzy control parallel distributed compensation trajectory tracking |
| url | http://itmojs.itm.edu.co/index.php/tecnologicas/article/view/1019/892 |
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