Swing-up fuzzy control of an inverted pendulum system for control education with an experimental kit

Author

Ahn, Jaekook ; Jung, Seul

Author_Institution

Intell. Syst. & Emotional Eng. Lab., Chungnam Nat. Univ.

fYear

2008

Firstpage

1709

Lastpage

1714

Abstract

This paper presents the swing up control of the inverted pendulum system. The inverted pendulum system should have enough energy to become upright position. Pumping motions are generated by the fuzzy rules to increase energy. When the pendulum arrives at the range of certain angle, fuzzy control is switched to the PD control to balance the pendulum. The angle and switching time have been selected based on experimental studies. Successful demonstration has been shown by the experimental studies. The maximum energy is calculated based on theory and compared with that of experimental result.

Keywords

PD control; control engineering education; fuzzy control; motion control; nonlinear control systems; PD control; control education; experimental kit; fuzzy rules; inverted pendulum system; swing-up fuzzy control; Automatic control; Control systems; Couplings; Educational products; Fuzzy control; Gravity; Humans; Legged locomotion; Motion control; PD control; Swing up control; fuzzy control; inverted pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-9-3

Electronic_ISBN

978-89-93215-01-4

Type

conf

DOI

10.1109/ICCAS.2008.4694503

Filename

4694503