Control Of An Inverted Pendulum Using Fuzzy Logic

Control Of An Inverted Pendulum Using Fuzzy Logic

Inverted Pendulum System is a physical device consisting in a cylindrical bar which is usually made of aluminium, free to oscillate around a fixed pivot. The pivot is mounted on a cart, which can only moves in a horizontal direction. The cart can be exerted by a variable force. The bar would natu...

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Main Author: Mohd Hafizan , Anuar
Format: Monograph
Published: UTeM 2009
Subjects:
Q Science (General)
QA76 Computer software
Online Access:http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054531
http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054531
http://eprints.utem.edu.my/3375/1/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009_-_24_Pages.pdf
http://eprints.utem.edu.my/3375/2/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009.pdf
id utem-3375
recordtype eprints
spelling utem-33752015-05-28T02:34:53Z Control Of An Inverted Pendulum Using Fuzzy Logic Mohd Hafizan , Anuar Q Science (General) QA76 Computer software Inverted Pendulum System is a physical device consisting in a cylindrical bar which is usually made of aluminium, free to oscillate around a fixed pivot. The pivot is mounted on a cart, which can only moves in a horizontal direction. The cart can be exerted by a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. The goal of this project is to stabilize the inverted pendulum in upright position at all times while the cart stops at desired position. This is possible by exerting on the cart through the motor a force which tends to contrast the ‘free’ pendulum dynamics. The correct force has to be calculated measuring the instant values of the horizontal position and the pendulum’s angle. The controller used in this project is the Fuzzy Logic Controller. The modeling and analysis for this controller is done in MATLAB and Simulink. Therefore, the best control approach needs to be discovered in order to give the best performance for the inverted pendulum system. For this purpose the fuzzy logic controller is used with two sets of rules: first for swinging up the pendulum, and second for balancing the pendulum in upper position. Besides that, the inverted pendulum is also need to be placed at a desired location at the rail. Therefore, the best results we achieved with a combination of fuzzy and state controller which is PID. UTeM 2009 Monograph NonPeerReviewed application/pdf http://eprints.utem.edu.my/3375/1/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009_-_24_Pages.pdf application/pdf http://eprints.utem.edu.my/3375/2/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009.pdf http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054531 Mohd Hafizan , Anuar (2009) Control Of An Inverted Pendulum Using Fuzzy Logic. Project Report. UTeM, Melaka,Malaysia. (Submitted) http://eprints.utem.edu.my/3375/
repository_type Digital Repository
institution_category Local University
institution Universiti Teknikal Malaysia Melaka
building UTeM Institutional Repository
collection Online Access
topic Q Science (General)
QA76 Computer software
spellingShingle Q Science (General)
QA76 Computer software
Mohd Hafizan , Anuar
Control Of An Inverted Pendulum Using Fuzzy Logic
description Inverted Pendulum System is a physical device consisting in a cylindrical bar which is usually made of aluminium, free to oscillate around a fixed pivot. The pivot is mounted on a cart, which can only moves in a horizontal direction. The cart can be exerted by a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. The goal of this project is to stabilize the inverted pendulum in upright position at all times while the cart stops at desired position. This is possible by exerting on the cart through the motor a force which tends to contrast the ‘free’ pendulum dynamics. The correct force has to be calculated measuring the instant values of the horizontal position and the pendulum’s angle. The controller used in this project is the Fuzzy Logic Controller. The modeling and analysis for this controller is done in MATLAB and Simulink. Therefore, the best control approach needs to be discovered in order to give the best performance for the inverted pendulum system. For this purpose the fuzzy logic controller is used with two sets of rules: first for swinging up the pendulum, and second for balancing the pendulum in upper position. Besides that, the inverted pendulum is also need to be placed at a desired location at the rail. Therefore, the best results we achieved with a combination of fuzzy and state controller which is PID.
format Monograph
author Mohd Hafizan , Anuar
author_facet Mohd Hafizan , Anuar
author_sort Mohd Hafizan , Anuar
title Control Of An Inverted Pendulum Using Fuzzy Logic
title_short Control Of An Inverted Pendulum Using Fuzzy Logic
title_full Control Of An Inverted Pendulum Using Fuzzy Logic
title_fullStr Control Of An Inverted Pendulum Using Fuzzy Logic
title_full_unstemmed Control Of An Inverted Pendulum Using Fuzzy Logic
title_sort control of an inverted pendulum using fuzzy logic
publisher UTeM
publishDate 2009
url http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054531
http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000054531
http://eprints.utem.edu.my/3375/1/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009_-_24_Pages.pdf
http://eprints.utem.edu.my/3375/2/Control_Of_An_Inverted_Pendulum_Using_Fuzzy_Logic_Mohd_Hafizan_Bin_Anuar_QA76.9.S63.M42_2009.pdf
first_indexed 2018-09-05T10:13:37Z
last_indexed 2018-09-05T10:13:37Z
_version_ 1610762071632248832

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