NDLI: Fuzzy Control of an Inverted Pendulum using AC Induction Motor Actuator

Content Provider	IEEE Xplore Digital Library
Author	Marzi, H.
Copyright Year	2006
Description	Author affiliation: Dept. of Inf. Syst., St. Francis Xavier Univ., Antigonish, NS (Marzi, H.)
Abstract	It has been proven that fuzzy controllers are capable of controlling non-linear systems where it is cumbersome to develop conventional controllers based on mathematical modeling. This article describes designing fuzzy controllers for an inverted pendulum. It compares performance of two controllers designed based on Mamdani and Takagi-Sugeno in a short track length, following a high disturbance. The work then focuses on the AC electrical motor that produces the torque required for the horizontal movements of the inverted pendulum. A simplified control model for the AC motor is used which includes the motor's time constant as the crucial parameter in producing rapid responses to the disturbances. In the currently modeling of fuzzy controllers for the inverted pendulum, the input to the pendulum block is a torque. This torque is produced by an electrical motor which is not included in the model. A disadvantage in this modeling is that the electrical motor dynamics is not built-in in the control system independently. Here, a simplified model of an AC electrical motor is incorporated to the system. The electrical motor receives its inputs as current or voltage and produces a torque as output to control the balance of the inverted pendulum. The new approach in modeling a fuzzy control system assists in 1) examining use of AC motors in producing rapid response, 2) selecting sensitive parameters for an optimum high performance electrical motor capable to stabilize the inverted pendulum system and 3) designing a Takagi-Sugeno type fuzzy controller
Sponsorship	IEEE IM IEEE CIS
Starting Page	109
Ending Page	114
File Size	5133260
Page Count	6
File Format	PDF
ISBN	1424402441
DOI	10.1109/CIMSA.2006.250767
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-12
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Induction motors Actuators AC motors Nonlinear control systems Fuzzy systems Control system synthesis Takagi-Sugeno model Torque control Mathematical model Field Oriented Control Inverted Pendulum Induction Motor
Content Type	Text
Resource Type	Article

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