Pendulum Position Based Fuzzy Regulator of the Furuta Pendulum - A Stable Closed-Loop System Design Approach

被引：0
|
作者：
Cazarez-Castro, Nohe Ramon [1 ]
Aguilar, Luis T. [2 ]
Cardenas-Maciel, Selene L. [3 ]
Goribar-Jimenez, Carlos A. [3 ]
机构：
[1] Inst Tecnol Tijuana, Div Estudios Posgrad & Invest, Tijuana, Baja California, Mexico
[2] Inst Politecn Nacl, Ctr Invest & Desarrollo Tecnol Digital, Mexico City 07738, DF, Mexico
[3] Inst Tecnol Tijuana, Dept Ingn Elect & Elect, Tijuana, Baja California, Mexico
来源：
NATURE-INSPIRED COMPUTATION AND MACHINE LEARNING, PT II | 2014年 / 8857卷
关键词：
INERTIA WHEEL PENDULUM; LOGIC CONTROLLER; STABILIZATION; OPTIMIZATION;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.
引用
收藏
页码：426 / 435
页数：10
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