Adaptive fuzzy control of the inverted pendulum problem

被引：71

作者：

El-Hawwary, Mohamed I. ^{[1
]}

Elshafei, A. L. ^{[1
]}

Emara, H. M. ^{[1
]}

Fattah, H. A. Abdel ^{[1
]}

机构：

[1] Cairo Univ, Fac Engn, Elect Power & Machines Dept, Giza 11787, Egypt

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2006年 / 14卷 / 06期

关键词：

adaptive control; feedback linearization (FBL); fuzzy disturbance observer (FDO); fuzzy systems; under-actuated systems;

D O I：

10.1109/TCST.2006.880217

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this brief, we address adaptive fuzzy control of the inverted-pendulum on a cart problem as an underactuated mechanical system. Many of the schemes presented in the adaptive fuzzy control literature tackle the problem as a second-order system based on feedback linearization. Such schemes render unstable zero dynamics for the cart-pole systems which hinders experimental implementation. The paradigm presented is also based on a feedback linearizing (FBL) scheme, yet it ensures system stabilization. A damping term and an adaptive fuzzy control term are added to guarantee asymptotic stability and to account for disturbances. Experimental results illustrate the success of the proposed controller in stabilization and cart-position tracking of a reference trajectory.

引用

页码：1135 / 1144

页数：10

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