Title :
Adaptive Fuzzy Control of Inverted Pendulum with a Fuzzy-Based Set-Point Weighting Scheme
Author :
Pal, A.K. ; Chakrabarty, J.
Author_Institution :
Dept. of A.E.I.E, Heritage Inst. of Technol. Kolkata, Kolkata, India
Abstract :
This paper presents a solution to the control problem of inverted pendulum, in presence of model uncertainties due to its varying pendulum mass and length. Here, a fuzzy PD controller is proposed which is continuously tuned and updated by a non-fuzzy adaptive scheme. In addition to the proposed tuning scheme, a fuzzy-based set-point weighing scheme is also incorporated for effective control in load variations. The application of the proposed fuzzy-based set-point weighting self-adaptive fuzzy PD controller (FSW-SAFPDC) stabilized the pendulum in an upright position in minimum time and the cart returned to its initial position.
Keywords :
PD control; adaptive control; fuzzy control; fuzzy set theory; nonlinear control systems; pendulums; self-adjusting systems; stability; uncertain systems; FSW-SAFPDC; control problem; fuzzy-based set-point weighting scheme; inverted pendulum; load variations; model uncertainties; nonfuzzy adaptive scheme; pendulum length; pendulum mass; self-adaptive fuzzy PD controller; stabilization; tuning scheme; Equations; Fuzzy logic; Load management; Niobium; PD control; Tuning; adaptive tuning; fuzzy logic control; load variations; set-point weighting;
Conference_Titel :
Emerging Applications of Information Technology (EAIT), 2014 Fourth International Conference of
DOI :
10.1109/EAIT.2014.53
