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Fuzzy Optimal Control for Double Inverted Pendulum
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| DC Identifier: | https://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 |
