Title :
Swing-up fuzzy control of an inverted pendulum system for control education with an experimental kit
Author :
Ahn, Jaekook ; Jung, Seul
Author_Institution :
Intell. Syst. & Emotional Eng. Lab., Chungnam Nat. Univ.
Abstract :
This paper presents the swing up control of the inverted pendulum system. The inverted pendulum system should have enough energy to become upright position. Pumping motions are generated by the fuzzy rules to increase energy. When the pendulum arrives at the range of certain angle, fuzzy control is switched to the PD control to balance the pendulum. The angle and switching time have been selected based on experimental studies. Successful demonstration has been shown by the experimental studies. The maximum energy is calculated based on theory and compared with that of experimental result.
Keywords :
PD control; control engineering education; fuzzy control; motion control; nonlinear control systems; PD control; control education; experimental kit; fuzzy rules; inverted pendulum system; swing-up fuzzy control; Automatic control; Control systems; Couplings; Educational products; Fuzzy control; Gravity; Humans; Legged locomotion; Motion control; PD control; Swing up control; fuzzy control; inverted pendulum;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694503
