Vertical-rotary inverted pendulum system based on fuzzy control

Author

Hou, Yunhai ; Zhang, Hongwei ; Mei, Kai

Author_Institution

Sch. Of Electr. & Electr. Eng., Changchun Univ. of Technol., Changchun, China

fYear

2011

fDate

16-18 Sept. 2011

Firstpage

2804

Lastpage

2807

Abstract

Fuzzy control was used to control a vertical rotary invert-pendulum with single fulcrum due to its complex characteristics in this paper. Movable equation of the inverted pendulum was derived, according to the dynamics analysis method of Lagrange. By system feasible approximation, an easily analytical math model was deduced. At the same time, the fuzzy logical tool package of MATLAB was used to build FIS of the inverted pendulum , and the function of figure modeling and simulation in it to simulate inverted pendulum .The results shows that the method is practicable.

Keywords

fuzzy control; nonlinear control systems; pendulums; FIS; Lagrangian dynamics; MATLAB; analytical math model; dynamics analysis method; fuzzy control; fuzzy logical tool package; movable equation; single fulcrum; system feasible approximation; vertical-rotary inverted pendulum system; Educational institutions; Equations; Fuzzy control; Fuzzy logic; MATLAB; Mathematical model; Simulation; dynamics model; fuzzy control; rotary inverted-pendulum; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2011 International Conference on

Conference_Location

Yichang

Print_ISBN

978-1-4244-8162-0

Type

conf

DOI

10.1109/ICECENG.2011.6057000

Filename

6057000