Title :
Design and control of an inverted pendulum system for intelligent mechatronics system control education
Author :
Lee, Geun Hyeong ; Jung, Seul
Author_Institution :
Mechatron. Eng. Dept., Chungnam Nat. Univ., Daejeon
Abstract :
This paper presents a mechatronics system for intelligent control education. The inverted pendulum system is designed and built to fit an educational kit as an intelligent mechatronics system. The neuro-fuzzy control method whose structure is the Tagaki-Sugeno model is introduced to control the pendulum. The Takagi-Sugeno(T-S) neuro-fuzzy control structure is implemented on the DSP board built in our Lab. Parameters of the neuro-fuzzy controller are updated based on the back-propagation algorithm derived in this paper. Performances of the neuro-fuzzy controller are evaluated by experimental studies of testing desired position tracking control of the cart while balancing.
Keywords :
backpropagation; control engineering education; fuzzy control; intelligent control; mechatronics; neurocontrollers; nonlinear control systems; pendulums; Tagaki-Sugeno model; back-propagation algorithm; intelligent control education; intelligent mechatronics system; inverted pendulum system; neuro-fuzzy control; Control systems; Electrical equipment industry; Fuzzy logic; Fuzzy neural networks; Intelligent control; Intelligent sensors; Intelligent systems; Mechatronics; Neural networks; Takagi-Sugeno model; Neuro-fuzzy controller; intelligent control education; inverted pendulum;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601842
