Swing-up and stabilization of the rotational inverted pendulum using PD and fuzzy-PD controllers

被引：16
作者：
Oltean, Stelian-Emilian [1 ]
机构：
[1] Petru Maior Univ Tirgu Mures, Targu Mures 540088, Romania
来源：
7TH INTERNATIONAL CONFERENCE INTERDISCIPLINARITY IN ENGINEERING (INTER-ENG 2013) | 2014年 / 12卷
关键词：
rotational inverted pendulum; swing-up control; balance control; conventional PD control; fuzzy-PD control;
D O I：
10.1016/j.protcy.2013.12.456
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The paper proposes a simplified solution of the control problem of the rotational inverted pendulum. The rotational inverted pendulum (RIP) is a complex system, widely studied in many areas due to its complexity and nonlinearities. The control strategy is divided into two subproblems, the swing-up control of the pendulum using a PD cascade scheme and the balance/stabilizing control of the whole system using a fuzzy-PD regulator. The switching mode between these subproblems is also considered. The plant, the swing-up control and the stabilizing system are modeled and studied in the Matlab/Simulink environment. (C) 2013 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：57 / 64
页数：8
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