Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms

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

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2022 IEEE ANDESCON
Subtítulo de la publicación alojadaTechnology and Innovation for Andean Industry, ANDESCON 2022
EditoresMariela Cerrada Lozada, Paul Sanmartiin Mendoza
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665488549
DOI
EstadoPublicada - 2022
Evento11th IEEE Conference of the Andean Council, ANDESCON 2022 - Barranquilla, Colombia
Duración: 16 nov. 202219 nov. 2022

Serie de la publicación

Nombre2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022

Conferencia

Conferencia11th IEEE Conference of the Andean Council, ANDESCON 2022
País/TerritorioColombia
CiudadBarranquilla
Período16/11/2219/11/22

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