Fuzzy Optimal Control for Double Inverted Pendulum

Al-Hadithi, Basil M. and Barragán Piña, Antonio Javier and Andujar Marquez, Jose Manuel and Jiménez Avello, Agustín (2012). Fuzzy Optimal Control for Double Inverted Pendulum. In: "7th IEEE Conference on Industrial Electronics and Applications (ICIEA)", 18/07/2012 - 20/07/2012, Singapur, Singapur. ISBN 978-1-4577-2118-2. pp. 1-5. https://doi.org/10.1109/ICIEA.2012.6360687.

Description

Title: Fuzzy Optimal Control for Double Inverted Pendulum
Author/s:
  • Al-Hadithi, Basil M.
  • Barragán Piña, Antonio Javier
  • Andujar Marquez, Jose Manuel
  • Jiménez Avello, Agustín
Item Type: Presentation at Congress or Conference (Article)
Event Title: 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)
Event Dates: 18/07/2012 - 20/07/2012
Event Location: Singapur, Singapur
Title of Book: Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on
Date: July 2012
ISBN: 978-1-4577-2118-2
Subjects:
Freetext Keywords: Takagi-Sugeno model, Linear quadratic regulator, Double inverted pendulum
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.

More information

Item ID: 20338
DC Identifier: http://oa.upm.es/20338/
OAI Identifier: oai:oa.upm.es:20338
DOI: 10.1109/ICIEA.2012.6360687
Official URL: http://ieeeiciea.org/2012/index.html
Deposited by: Memoria Investigacion
Deposited on: 02 Oct 2013 08:28
Last Modified: 01 Mar 2016 13:59
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