Title :
Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system
Author :
Mohan, V. ; Singh, Navab
Author_Institution :
Dept. of Instrum. & Control Eng., Dr. B.R. Ambedkar Nat. Inst. of Technol., Jalandhar, India
Abstract :
In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.
Keywords :
control system analysis computing; controllability; fuzzy reasoning; linear quadratic control; nonlinear control systems; pendulums; stability; ANFIS controller; LQR controller; controllability; nonlinear system; observability; performance comparison; stability; stabilizing double inverted pendulum system; state variable fusion; unstable system; Controllability; Equations; Force; Mathematical model; Observability; Optimal control; Adaptive-Network-Based Fuzzy Inference System (ANFIS); Double Inverted Pendulum (DIP); Linear Quadratic Regulator (LQR);
Conference_Titel :
Signal Processing, Computing and Control (ISPCC), 2013 IEEE International Conference on
Conference_Location :
Solan
Print_ISBN :
978-1-4673-6188-0
DOI :
10.1109/ISPCC.2013.6663452
