TY - GEN
T1 - Fuzzy Controller Design for Rotary Inverted Pendulum System Using Genetic Algorithms
AU - Gutarra, Anthony
AU - Palomino, Styven
AU - Alegria, Elvis J.
AU - Cisneros, Jose
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
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.
KW - Fuzzy controller
KW - LQR controller
KW - genetic algorithms
KW - rotatory inverted pendulum
UR - http://www.scopus.com/inward/record.url?scp=85146439847&partnerID=8YFLogxK
U2 - 10.1109/ANDESCON56260.2022.9989988
DO - 10.1109/ANDESCON56260.2022.9989988
M3 - Conference contribution
AN - SCOPUS:85146439847
T3 - 2022 IEEE ANDESCON: Technology and Innovation for Andean Industry, ANDESCON 2022
BT - 2022 IEEE ANDESCON
A2 - Lozada, Mariela Cerrada
A2 - Mendoza, Paul Sanmartiin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 11th IEEE Conference of the Andean Council, ANDESCON 2022
Y2 - 16 November 2022 through 19 November 2022
ER -