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

fYear

2013

fDate

27-29 Aug. 2013

Firstpage

1

Lastpage

5

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (IFSC), 2013 13th Iranian Conference on

Conference_Location

Qazvin

Print_ISBN

978-1-4799-1227-8

Type

conf

DOI

10.1109/IFSC.2013.6675645

Filename

6675645