Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms

Anthony Gutarra; Styven Palomino; Elvis J. Alegria; Jose Cisneros

doi:10.1109/ANDESCON56260.2022.9989988

Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms

Anthony Gutarra, Styven Palomino, Elvis J. Alegria, Jose Cisneros

Department of Electrical and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper presents the design, optimization and implementation of a fuzzy controller applied to a rotatory inverted pendulum system, where a genetic algorithm is used to tune the parameters of the controller membership functions from experimental data. The proposed fuzzy control is based on a cascade control structure, which is useful for this nonlinear pendulum system. Furthermore, the LQR controller, which is commonly used to control an inverted pendulum system, was implemented for comparison purposes. It is empirically demonstrated that the proposed fuzzy controller covers a larger range of operating points than a conventional LQR controller. Finally, typical disturbances are added to the system states to test the robustness of the proposed fuzzy controller.

Original language	English
Title of host publication	2022 IEEE ANDESCON
Subtitle of host publication	Technology and Innovation for Andean Industry, ANDESCON 2022
Editors	Mariela Cerrada Lozada, Paul Sanmartiin Mendoza
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665488549
DOIs	https://doi.org/10.1109/ANDESCON56260.2022.9989988
State	Published - 2022
Event	11th IEEE Conference of the Andean Council, ANDESCON 2022 - Barranquilla, Colombia Duration: 16 Nov 2022 → 19 Nov 2022

Publication series

Name	2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022

Conference

Conference	11th IEEE Conference of the Andean Council, ANDESCON 2022
Country/Territory	Colombia
City	Barranquilla
Period	16/11/22 → 19/11/22

Keywords

Fuzzy controller
LQR controller
genetic algorithms
rotatory inverted pendulum

Access to Document

10.1109/ANDESCON56260.2022.9989988

Cite this

Gutarra, A., Palomino, S., Alegria, E. J., & Cisneros, J. (2022). Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms. In M. C. Lozada, & P. S. Mendoza (Eds.), 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022 (2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ANDESCON56260.2022.9989988

Gutarra, Anthony ; Palomino, Styven ; Alegria, Elvis J. et al. / Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms. 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022. editor / Mariela Cerrada Lozada ; Paul Sanmartiin Mendoza. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022).

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title = "Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms",

abstract = "This paper presents the design, optimization and implementation of a fuzzy controller applied to a rotatory inverted pendulum system, where a genetic algorithm is used to tune the parameters of the controller membership functions from experimental data. The proposed fuzzy control is based on a cascade control structure, which is useful for this nonlinear pendulum system. Furthermore, the LQR controller, which is commonly used to control an inverted pendulum system, was implemented for comparison purposes. It is empirically demonstrated that the proposed fuzzy controller covers a larger range of operating points than a conventional LQR controller. Finally, typical disturbances are added to the system states to test the robustness of the proposed fuzzy controller.",

keywords = "Fuzzy controller, LQR controller, genetic algorithms, rotatory inverted pendulum",

author = "Anthony Gutarra and Styven Palomino and Alegria, {Elvis J.} and Jose Cisneros",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 11th IEEE Conference of the Andean Council, ANDESCON 2022 ; Conference date: 16-11-2022 Through 19-11-2022",

year = "2022",

doi = "10.1109/ANDESCON56260.2022.9989988",

language = "English",

series = "2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2022 IEEE ANDESCON",

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Gutarra, A, Palomino, S, Alegria, EJ & Cisneros, J 2022, Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms. in MC Lozada & PS Mendoza (eds), 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022. 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022, Institute of Electrical and Electronics Engineers Inc., 11th IEEE Conference of the Andean Council, ANDESCON 2022, Barranquilla, Colombia, 16/11/22. https://doi.org/10.1109/ANDESCON56260.2022.9989988

Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms. / Gutarra, Anthony; Palomino, Styven; Alegria, Elvis J. et al.
2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022. ed. / Mariela Cerrada Lozada; Paul Sanmartiin Mendoza. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Alegria, Elvis J.

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N2 - This paper presents the design, optimization and implementation of a fuzzy controller applied to a rotatory inverted pendulum system, where a genetic algorithm is used to tune the parameters of the controller membership functions from experimental data. The proposed fuzzy control is based on a cascade control structure, which is useful for this nonlinear pendulum system. Furthermore, the LQR controller, which is commonly used to control an inverted pendulum system, was implemented for comparison purposes. It is empirically demonstrated that the proposed fuzzy controller covers a larger range of operating points than a conventional LQR controller. Finally, typical disturbances are added to the system states to test the robustness of the proposed fuzzy controller.

AB - This paper presents the design, optimization and implementation of a fuzzy controller applied to a rotatory inverted pendulum system, where a genetic algorithm is used to tune the parameters of the controller membership functions from experimental data. The proposed fuzzy control is based on a cascade control structure, which is useful for this nonlinear pendulum system. Furthermore, the LQR controller, which is commonly used to control an inverted pendulum system, was implemented for comparison purposes. It is empirically demonstrated that the proposed fuzzy controller covers a larger range of operating points than a conventional LQR controller. Finally, typical disturbances are added to the system states to test the robustness of the proposed fuzzy controller.

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KW - LQR controller

KW - genetic algorithms

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Gutarra A, Palomino S, Alegria EJ, Cisneros J. Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms. In Lozada MC, Mendoza PS, editors, 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022). doi: 10.1109/ANDESCON56260.2022.9989988

Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms

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