Title :
Experimental validation of Iterative Feedback Tuning solutions for inverted pendulum crane mode control
Author :
Precup, Radu-Emil ; Preitl, Stefan ; Fodor, Janos ; Ursache, Ion-bogdan ; Clep, P.A. ; Kilyeni, Stefan
Author_Institution :
Politeh. Univ. of Timisoara, Timisoara
Abstract :
The paper examines the applicability of Iterative Feedback Tuning (IFT) to the position control of the inverted pendulum system in crane mode. Two control solutions are considered, the linear one employing two PID controllers and the fuzzy control one based on two PID-fuzzy controllers. Real-time experiments validate the controller designs.
Keywords :
cranes; feedback; fuzzy control; iterative methods; nonlinear systems; position control; three-term control; PID controllers; fuzzy control; inverted pendulum crane mode control; inverted pendulum system; iterative feedback tuning solutions; position control; Automatic control; Cascading style sheets; Control systems; Cranes; Feedback; Force control; Fuzzy control; Position control; Three-term control; Weight control; Crane mode; Iterative Feedback Tuning; PID controllers; fuzzy control; inverted pendulum system;
Conference_Titel :
Human System Interactions, 2008 Conference on
Conference_Location :
Krakow
Print_ISBN :
978-1-4244-1542-7
Electronic_ISBN :
978-1-4244-1543-4
DOI :
10.1109/HSI.2008.4581496
