Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the...
| Main Authors: | , , , |
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| Format: | Book Chapter |
| Language: | English English |
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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf |
| _version_ | 1848822159969878016 |
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| author | M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali |
| author_facet | M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali |
| author_sort | M. F., Masrom |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control. |
| first_indexed | 2025-11-15T02:36:49Z |
| format | Book Chapter |
| id | ump-24945 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T02:36:49Z |
| publishDate | 2018 |
| publisher | Springer Singapore |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-249452019-05-17T07:47:41Z http://umpir.ump.edu.my/id/eprint/24945/ Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali TK Electrical engineering. Electronics Nuclear engineering This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control. Springer Singapore 2018 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf pdf en http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf M. F., Masrom and N. M., Ghani and Nurul Fadzlina, Jamin and N. A. A, Razali (2018) Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 151-159. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_13 https://doi.org/10.1007/978-981-13-3708-6_13 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection |
| title | Stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| title_full | Stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| title_fullStr | Stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| title_full_unstemmed | Stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| title_short | Stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| title_sort | stabilization control of a two-wheeled triple links inverted
pendulum system with disturbance rejection |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf |