Design of Intelligent Controllers for Double Inverted Pendulum
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| Format: | Artículo científico |
| Language: | en |
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Universidade Federal de Santa Maria
2015
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| _version_ | 1876487843065364480 |
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| author | Mehdi Ramezanifard |
| author_facet | Mehdi Ramezanifard |
| contents | Design of Intelligent Controllers for Double Inverted Pendulum Mehdi Ramezanifard Estudios Ambientales Fuzzy control TSK controller Velayat Universit supervisory control intelligent control In this paper, first a fuzzy controller is proposed for systems comprising two inverted pendulums placed in the same plane, w here one pendulum moves along the X - axis and the other moves along the Y - axis; rules of a Fuzzy - Mamdani controller i s improved by considering the behavior of an operator and a the developed expert system and by trial and error in the observation of the system’s behav ior. Simulation results obtained in MATLAB are proposed and then two other intelligent methods are presen ted. In the second proposed method, a TSK controller is designed with Anfis training approach and its simulation results are presented. Finally, a non - fuzzy controller (linearization feedback) is used as the supervisor fuzzy controller and the simulation r esults are presented. At last, performance of the three controllers is compared and the results are demonstrated. 2015 artículo científico 0100-8307 https://www.redalyc.org/articulo.oa?id=467547683053 en http://www.redalyc.org/revista.oa?id=4675 Ciência e Natura application/pdf Universidade Federal de Santa Maria Ciência e Natura (Brasil) Num.6-2 Vol.37 |
| format | Artículo científico |
| id | redalyc_467547683053 |
| institution | Redalyc |
| language | en |
| publishDate | 2015 |
| publisher | Universidade Federal de Santa Maria |
| spellingShingle | Design of Intelligent Controllers for Double Inverted Pendulum Mehdi Ramezanifard Estudios Ambientales Fuzzy control TSK controller Velayat Universit supervisory control intelligent control Design of Intelligent Controllers for Double Inverted Pendulum Mehdi Ramezanifard Estudios Ambientales Fuzzy control TSK controller Velayat Universit supervisory control intelligent control In this paper, first a fuzzy controller is proposed for systems comprising two inverted pendulums placed in the same plane, w here one pendulum moves along the X - axis and the other moves along the Y - axis; rules of a Fuzzy - Mamdani controller i s improved by considering the behavior of an operator and a the developed expert system and by trial and error in the observation of the system’s behav ior. Simulation results obtained in MATLAB are proposed and then two other intelligent methods are presen ted. In the second proposed method, a TSK controller is designed with Anfis training approach and its simulation results are presented. Finally, a non - fuzzy controller (linearization feedback) is used as the supervisor fuzzy controller and the simulation r esults are presented. At last, performance of the three controllers is compared and the results are demonstrated. 2015 artículo científico 0100-8307 https://www.redalyc.org/articulo.oa?id=467547683053 en http://www.redalyc.org/revista.oa?id=4675 Ciência e Natura application/pdf Universidade Federal de Santa Maria Ciência e Natura (Brasil) Num.6-2 Vol.37 |
| title | Design of Intelligent Controllers for Double Inverted Pendulum |
| topic | Estudios Ambientales Fuzzy control TSK controller Velayat Universit supervisory control intelligent control |
| url | https://www.redalyc.org/articulo.oa?id=467547683053 |