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

fYear

2013

fDate

26-28 Sept. 2013

Firstpage

1

Lastpage

6

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);

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing, Computing and Control (ISPCC), 2013 IEEE International Conference on

Conference_Location

Solan

Print_ISBN

978-1-4673-6188-0

Type

conf

DOI

10.1109/ISPCC.2013.6663452

Filename

6663452