صورة الغلاف

Fuzzy servo control of an inverted pendulum system

In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the...

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محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Mohd Khairi, Mohamed Nor, Okubo, Shigenori
التنسيق: مقال
اللغة:English
منشور في: 2012
الموضوعات:
TJ Mechanical engineering and machinery
الوصول للمادة أونلاين:http://eprints.utem.edu.my/id/eprint/11167/1/AROB_Journal_2012.pdf
http://eprints.utem.edu.my/id/eprint/11167/
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id my.utem.eprints.11167
record_format eprints
spelling my.utem.eprints.111672015-05-28T04:15:32Z http://eprints.utem.edu.my/id/eprint/11167/ Fuzzy servo control of an inverted pendulum system Mohd Khairi, Mohamed Nor Okubo, Shigenori TJ Mechanical engineering and machinery In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the performance and effectiveness of new control method. The idea behind this control method is to divide the operating region of nonlinear system into small areas, and to treat as a collection of local linear servo systems by using Davison–Smith method. The control rule of each local linear servo systems is calculated using pole assignment method proposed by Hikita. Fuzzy method is applied to each local linear servo system and combines it as new control rule. The simulations have been done and the comparisons have been made between the fuzzy servo control and linear servo control. The simulation to study the effect of reference r = 0 is done. The comparisons between different values of weight matrix Qn for fuzzy membership function and disturbance also have been done. The results show that the proposed method can stabilize the system better than linear servo control and follow the reference given. The effect of variant value of values of weight matrix Qn for fuzzy membership function and disturbance also can be observed. 2012-12-01 Article PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/11167/1/AROB_Journal_2012.pdf Mohd Khairi, Mohamed Nor and Okubo, Shigenori (2012) Fuzzy servo control of an inverted pendulum system. Artificial Life and Robotics. pp. 245-250. ISSN 1433-5298
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Mohd Khairi, Mohamed Nor
Okubo, Shigenori
Fuzzy servo control of an inverted pendulum system
description In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the performance and effectiveness of new control method. The idea behind this control method is to divide the operating region of nonlinear system into small areas, and to treat as a collection of local linear servo systems by using Davison–Smith method. The control rule of each local linear servo systems is calculated using pole assignment method proposed by Hikita. Fuzzy method is applied to each local linear servo system and combines it as new control rule. The simulations have been done and the comparisons have been made between the fuzzy servo control and linear servo control. The simulation to study the effect of reference r = 0 is done. The comparisons between different values of weight matrix Qn for fuzzy membership function and disturbance also have been done. The results show that the proposed method can stabilize the system better than linear servo control and follow the reference given. The effect of variant value of values of weight matrix Qn for fuzzy membership function and disturbance also can be observed.
format Article
author Mohd Khairi, Mohamed Nor
Okubo, Shigenori
author_facet Mohd Khairi, Mohamed Nor
Okubo, Shigenori
author_sort Mohd Khairi, Mohamed Nor
title Fuzzy servo control of an inverted pendulum system
title_short Fuzzy servo control of an inverted pendulum system
title_full Fuzzy servo control of an inverted pendulum system
title_fullStr Fuzzy servo control of an inverted pendulum system
title_full_unstemmed Fuzzy servo control of an inverted pendulum system
title_sort fuzzy servo control of an inverted pendulum system
publishDate 2012
url http://eprints.utem.edu.my/id/eprint/11167/1/AROB_Journal_2012.pdf
http://eprints.utem.edu.my/id/eprint/11167/
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score 13.251813

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