Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system
A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must a...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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2006
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| Online Access: | http://eprints.um.edu.my/4439/1/Intelligent_control_for_self-erecting_inverted_pendulum_via_adaptive_neuro-fuzzy_inference_system.pdf |
| _version_ | 1825718942366171136 |
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| author | Saifizul, A.A. Zainon, Z. Abu Osman, Noor Azuan Azlan, C.A. Ibrahim, U.F.S.U. |
| author_facet | Saifizul, A.A. Zainon, Z. Abu Osman, Noor Azuan Azlan, C.A. Ibrahim, U.F.S.U. |
| author_sort | Saifizul, A.A. |
| collection | UM |
| description | A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pendulum in the unstable position. To deal with this system, a lot of control techniques have been used on the basis of linearized or nonlinear model. In real-time implementation, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up and a stabilization controller. In this paper, first, the mathematical models of cart and single inverted pendulum system are presented. Then, the Position-Velocity controller is designed to swingup the pendulum considering physical behavior. For stabilizing the inverted pendulum, a Takagi- Sugeno fuzzy controller with Adaptive Neuro-Fuzzy Inference System (ANFIS) architecture is used to guarantee stability at unstable equilibrium position. Experimental results are given to show the effectiveness of these controllers. |
| first_indexed | 2024-03-06T05:11:59Z |
| format | Article |
| id | um.eprints-4439 |
| institution | Universiti Malaya |
| language | English |
| last_indexed | 2024-03-06T05:11:59Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | um.eprints-44392020-01-24T03:15:01Z http://eprints.um.edu.my/4439/ Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system Saifizul, A.A. Zainon, Z. Abu Osman, Noor Azuan Azlan, C.A. Ibrahim, U.F.S.U. TA Engineering (General). Civil engineering (General) A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pendulum in the unstable position. To deal with this system, a lot of control techniques have been used on the basis of linearized or nonlinear model. In real-time implementation, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up and a stabilization controller. In this paper, first, the mathematical models of cart and single inverted pendulum system are presented. Then, the Position-Velocity controller is designed to swingup the pendulum considering physical behavior. For stabilizing the inverted pendulum, a Takagi- Sugeno fuzzy controller with Adaptive Neuro-Fuzzy Inference System (ANFIS) architecture is used to guarantee stability at unstable equilibrium position. Experimental results are given to show the effectiveness of these controllers. 2006 Article PeerReviewed application/pdf en http://eprints.um.edu.my/4439/1/Intelligent_control_for_self-erecting_inverted_pendulum_via_adaptive_neuro-fuzzy_inference_system.pdf Saifizul, A.A. and Zainon, Z. and Abu Osman, Noor Azuan and Azlan, C.A. and Ibrahim, U.F.S.U. (2006) Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system. American Journal of Applied Sciences, 3 (4). pp. 1795-1802. ISSN 1546-9239, http://www.tsb-web.org.tw/isb2007/isb2007-paper/ISB/0670.pdf |
| spellingShingle | TA Engineering (General). Civil engineering (General) Saifizul, A.A. Zainon, Z. Abu Osman, Noor Azuan Azlan, C.A. Ibrahim, U.F.S.U. Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title | Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title_full | Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title_fullStr | Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title_full_unstemmed | Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title_short | Intelligent control for self-erecting inverted pendulum via adaptive neuro-fuzzy inference system |
| title_sort | intelligent control for self erecting inverted pendulum via adaptive neuro fuzzy inference system |
| topic | TA Engineering (General). Civil engineering (General) |
| url | http://eprints.um.edu.my/4439/1/Intelligent_control_for_self-erecting_inverted_pendulum_via_adaptive_neuro-fuzzy_inference_system.pdf |
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