Pid and Interval Type-2 Fuzzy Logic Control of Double Inverted Pendulum System
Yükleniyor...
Dosyalar
Tarih
2010
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
In this study, interval type2 fuzzy logic (IT2FL) and PID controller is designed for swing-up position control of double inverted pendulum (DIP) system. The double inverted pendulum system consists of two rigid bars connected by a revolute joint. Mass of the revolute joint is included in the dynamic model. Rigid bars in the system are assumed to experience planar motion. The pendulum system is connected to the base by means of a revolute joint. Torque provided through a motor mounted to the base is used for position control of the system. PID (Proportional-Derivative-Integral) and interval type2 fuzzy logic controllers are developed by using the same performance criteria for position control of double inverted pendulum system. IT2FL controller is similar with type1 fuzzy logic controller. IT2FL system provides soft decision boundaries, whereas a type-1 fuzzy logic system provides a hard decision boundary. Membership function in interval type2 fuzzy logic set as an area called Footprint of Uncertainty (FOU) which limited by two type1 membership function those are upper membership function (UMF) and lower membership function (LMF). System behaviour is obtained by computer simulation using developed controllers respectively. Computer simulation results are compared in order to evaluate applicability of developed controllers. MATLAB/Simulink software is used in computer simulations.
Açıklama
2nd International Conference on Computer and Automation Engineering (ICCAE) -- FEB 26-28, 2010 -- Singapore, SINGAPORE
Anahtar Kelimeler
Double inverted pendulum, Pıd control, İnterval type2 fuzzy logic controller, Swing-up control, Simulation
Kaynak
2010 2nd International Conference on Computer and Automation Engineering (Iccae 2010), Vol 1
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
1
Sayı
Künye
Tınkır, M., Önen, Ü., Kalyoncu, M., Botsalı, F. M., (2010). Pid and Interval Type-2 Fuzzy Logic Control of Double Inverted Pendulum System. 2010 2nd International Conference on Computer and Automation Engineering (Iccae 2010), (1), 117-121. Doi: 10.1109/ICCAE.2010.5451988
