Fuzzy Optimal Control for Double Inverted Pendulum

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2012-07

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Ingeniería Electrónica, de Sistemas Informáticos y Automática

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Center

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http://hdl.handle.net/10272/11460

Abstract

In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.

Keywords

Takagi-Sugeno model; Linear quadratic regulator; Double inverted pendulum

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Bibliographic citation

Al-Hadithi, B.M., Barragán Piña, A.J., Andujar Marquez, J.M., Jiménez Avello, A.: "Fuzzy Optimal Control for Double Inverted Pendulum. En: "7th IEEE Conference on Industrial Electronics and Applications (ICIEA)", 18/07/2012 - 20/07/2012, Singapur, Singapur. ISBN 978-1-4577-2118-2. págs. p. 1-5., (2012)

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