RT Conference Proceedings
T1 Fuzzy Optimal Control for Double Inverted Pendulum
A1 Al-Hadithi, Basil Mohammed
A1 Barragán Piña, Antonio Javier
A1 Andújar Márquez, José Manuel
A1 Jiménez Avello, Agustín
AB 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.
PB IEEE
YR 2012
FD 2012-07
LK http://hdl.handle.net/10272/11460
UL http://hdl.handle.net/10272/11460
LA eng
NO 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)
DS Repositorio Institucional de la Universidad de Huelva
RD 30 may 2026