MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
Publish place: Iranian Journal of Fuzzy Systems، Vol: 6، Issue: 3
Publish Year: 1388
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_IJFS-6-3_002
تاریخ نمایه سازی: 28 خرداد 1401
Abstract:
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a controller that swings up the pendulum, keepsit upright and maintains the arm position. In the general intelligent hybridcontroller, a PD controller with a positive feedback is designed for swinging upand a fuzzy balance controller is designed for stabilization. In order to achievethe swing up in a minimal time, a controller named Minimum Time IntelligentHybrid Controller is proposed which is precisely a PD controller together witha pulse step controller for swinging up along with the fuzzy balance controllerfor stabilization. The impulsive control action is tuned by trial and errorto achieve the minimum-time swing-up. An energy based switching controlmethod is proposed to switch over from swing up mode to stabilization mode.Extensive computer simulation results demonstrate that the swing up timeof the proposed minimum-time controller is significantly less than that of theexisting general hybrid nonlinear controller.
Keywords:
Fuzzy logic control (FLC) , Rotary inverted pendulum (RIP) , Swing up control , PD control , Energy based switching control , Hybrid control and Minimum-time control
Authors
P Melba Mary
Anna University, Department of Electrical and Electronics Engineering, TamilNadu, India
N. S. Marimuthu
Anna University, Department of Electrical and Electronics Engineering, TamilNadu, India
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