Fuzzy Swing-Up and Fuzzy Sliding-Mode Balance Control for a Planetary-Gear-Type Inverted Pendulum

被引：16

作者：

Chang, Yeong-Hwa ^{[1
]}

Chang, Chia-Wen ^{[1
]}

Taur, Jin-Shiuh ^{[2
]}

Tao, Chin-Wang ^{[3
]}

机构：

[1] Chang Gung Univ, Dept Elect Engn, Tao Yuan 333, Taiwan

[2] Natl Chung Hsing Univ, Dept Elect Engn, Taichung 40227, Taiwan

[3] Natl Ilan Univ, Dept Elect Engn, Ilan 260, Taiwan

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2009年 / 56卷 / 09期

关键词：

Energy-compensated control; fuzzy control; sliding-mode control; STABILIZATION; DESIGN; SYSTEMS;

D O I：

10.1109/TIE.2009.2025292

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An energy-compensated fuzzy swing-up and balance control is investigated for the planetary-gear-type inverted pendulum (PIP) in this paper. The proposed control scheme consists of a fuzzy swing-up controller (FSC), a fuzzy sliding balance controller (FSBC), and a fuzzy compensation mechanism. The PIP with the designed FSC can upswing the pendulum quickly and have the controlled system be stable in the sense of approaching the desired system energy. The pendulum of PIP system can be stably balanced at the upright position with the presented FSBC, where the chattering effect is significantly eliminated. With the proposed compensation mechanism, the overaccumulated upswing energy can be effectively compensated such that the influence of disturbance can be overcome. The simulation results are included to indicate the effectiveness of the provided controller. Moreover, based on an embedded control kernel, an experimental setup for the PIP control system is built up. It shows that the real-time experiment results empirically support the promising performance of desire.

引用

页码：3751 / 3761

页数：11

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