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Intelligent control for swing up and balancing of an inverted pendulum system

Widjaja, Moeljono and Yurkovich, S. (2002) Intelligent control for swing up and balancing of an inverted pendulum system. Proceedings of International Conference on Control Applications.

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Official URL: https://ieeexplore.ieee.org/abstract/document/5557...

Abstract

This paper describes implementation of swing-up and balancing control for a rotational inverted pendulum system. The authors' focus is on three aspects of fuzzy control in the overall control design: direct, supervisory, and auto-tuning fuzzy control. For a swing-up control, the authors utilize an energy pumping strategy, enhanced by introducing a fuzzy supervisory mechanism. For balancing control, an LQR-based linear control strategy is generalized to a nonlinear direct fuzzy control design. For improved performance when disturbances affect the pendulum system, the authors develop a new scheme, the auto-tuned fuzzy controller, which has the capability to vary its resolution on-line. All controllers are tested on an experimental apparatus, and performance comparisons are drawn.

Item Type: Article
Subjects: 000 Computer Science, Information and General Works > 000 Computer Science, Knowledge and Systems > 006 Special Computer Methods (3D Graphics, Digital Video, Data Mining, Augmented Reality)
500 Science and Mathematic > 510 Mathematics > 519 Probabilities and Applied Mathematics
Divisions: Fakultas Teknik Informatika > Program Studi Informatika
Depositing User: mr admin umn
Date Deposited: 15 Oct 2021 08:42
Last Modified: 15 Oct 2021 08:42
URI: http://kc.umn.ac.id/id/eprint/18819

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