Title :
Fault tolerant improvement with chaos synchronization using Fuzzy-PID control
Author :
Ghorbani, Farhad ; Aliyari Shooredeli, Mahdi ; Teshnehlab, Mohammad
Author_Institution :
Dept. of Control Eng., K.N. Toosi Univ. of Technol., Tehran, Iran
Abstract :
In this study, fault tolerant control for a Rotary Inverted Pendulum (RIP) has been improved by using chaos synchronization with adding a chaotic signal as a reference. Rotary inverted pendulum is a nonlinear, under-actuated, unstable and non-minimum-phase system. The proposed control consists of a state-feedback (LQR) and a fuzzy-PID control. The state-feedback control is used to stabilize system near the operating point, and the fuzzy-PID is used to track the chaos signal. PID controller gains adjust by fuzzy rule. The designed controller is implemented on a Quanser laboratory system.
Keywords :
chaos; control system synthesis; fault tolerance; fuzzy control; nonlinear control systems; pendulums; state feedback; synchronisation; three-term control; LQR; Quanser laboratory system; chaos signal tracking; chaos synchronization; chaotic signal; controller design; fault tolerant control; fault tolerant improvement; fuzzy rule; fuzzy-PID control; nonlinear system; nonminimum-phase system; rotary inverted pendulum; state-feedback control; system stabilization; under-actuated system; unstable system; Chaos Synchronization; Fuzzy-PID Control; Non-minimum-Phase; RIP;
Conference_Titel :
Fuzzy Systems (IFSC), 2013 13th Iranian Conference on
Conference_Location :
Qazvin
Print_ISBN :
978-1-4799-1227-8
DOI :
10.1109/IFSC.2013.6675645
