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SWINGING UP AND STABILIZING A PENDULUM (GYROBOT)

Publish Year: 1384
Type: Conference paper
Language: English
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ISME13_638

Index date: 12 March 2007

SWINGING UP AND STABILIZING A PENDULUM (GYROBOT) abstract

In this paper we consider two methods in swinging up and stabilizing a gyrobot. The gyrobot is an under actuated pendulum which consists a single link and an inertial, motor driven flywheel mounted at the free end. We want to design a control system to swing up the pendulum from downward equilibrium point to upward equilibrium point and stabilize it in this point. For this purpose we apply two types of controllers: the first has a non-linear energy based control for swinging up and linear full feedback controller for balancing gyrobot with a switch between two controllers. The second is a controller based on fuzzy logic method. In this method the two sets of rules for swing up and stabilizing are gathered in a fuzzy logic controller.

SWINGING UP AND STABILIZING A PENDULUM (GYROBOT) Keywords:

Gyrobot-Pendulum-Swing Up-Energy Based -Full Feed Back-Fuzzy logic

SWINGING UP AND STABILIZING A PENDULUM (GYROBOT) authors

Farahmand

Professor Assistant Mechanical Engineering Department Sharif University of Technology

Elahi

MS Student Mechanical Engineering Department Sharif University of Technology

Sharifi Sedeh

MS Student Mechanical Engineering Department Sharif University of Technology

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