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Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection

This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the...

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Main Authors: M. F., Masrom, N. M., Ghani, Nurul Fadzlina, Jamin, N. A. A, Razali
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf
http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf
http://umpir.ump.edu.my/id/eprint/24945/
https://link.springer.com/chapter/10.1007/978-981-13-3708-6_13
https://doi.org/10.1007/978-981-13-3708-6_13
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spelling my.ump.umpir.249452019-05-17T07:47:41Z http://umpir.ump.edu.my/id/eprint/24945/ Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali TK Electrical engineering. Electronics Nuclear engineering This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf pdf en http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf M. F., Masrom and N. M., Ghani and Nurul Fadzlina, Jamin and N. A. A, Razali (2018) Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 151-159. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_13 https://doi.org/10.1007/978-981-13-3708-6_13
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
M. F., Masrom
N. M., Ghani
Nurul Fadzlina, Jamin
N. A. A, Razali
Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
description This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control.
format Book Section
author M. F., Masrom
N. M., Ghani
Nurul Fadzlina, Jamin
N. A. A, Razali
author_facet M. F., Masrom
N. M., Ghani
Nurul Fadzlina, Jamin
N. A. A, Razali
author_sort M. F., Masrom
title Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_short Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_full Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_fullStr Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_full_unstemmed Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_sort stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf
http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf
http://umpir.ump.edu.my/id/eprint/24945/
https://link.springer.com/chapter/10.1007/978-981-13-3708-6_13
https://doi.org/10.1007/978-981-13-3708-6_13
_version_ 1643669946910113792
score 13.211869

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