Takagi-Sugeno Fuzzy Dynamic Regulator for a Pendulum on a Cart System

被引：0

作者：

De la Torre, Wilfredo ^{[1
]}

Jurado, Francisco ^{[1
]}

Llama, Miguel A. ^{[1
]}

Garcia Hernandez, Ramon ^{[2
]}

机构：

[1] Inst Tecnol Laguna, Torreon, Coahuila De Zar, Spain

[2] Univ Autonoma Carmen, Campeche, Mexico

来源：

2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2013年

关键词：

Linear matrix inequalities; parallel distributed compensation; pendulum on a cart system; Takagi-Sugeno fuzzy control; Takagi-Sugeno fuzzy observer; STABILITY; DESIGN;

D O I：

暂无

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 paper, from a nonlinear model for a pendulum on a cart system, which considers viscous friction, a two rules Takagi-Sugeno (T-S) fuzzy model is proposed using local approximation in fuzzy partition spaces approach. A Parallel Distributed Compensator (PDC), where feedback gains for the local linear controllers are obtained via Linear Matrix Inequalities (LMI) technique, guaranteeing global stability in the closed-loop system is also proposed. Moreover, a T-S fuzzy observer, using the separation principle from linear systems theory, is designed in order to estimate both cart and pendulum velocities. The so-called swing-up technique is used to swing the pendulum up from its pendant position to upright position. Numerical simulation and real-time experiments validate the effectiveness of our control scheme.

引用

页码：52 / 57

页数：6

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