NDLI: Progressive fuzzy fusion control of two coupled inverted penduli

Content Provider	IEEE Xplore Digital Library
Author	Zhen Song Sukthankar, P. YangQuan Chen Gu, J.
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA (Zhen Song; Sukthankar, P.; YangQuan Chen)
Abstract	This paper considers the control of two inverted penduli coupled with a spring using a progressive fuzzy fusion control method. The two penduli have some uncertain and unknown parameters and the coupling spring has an unknown spring constant. We assume that the lengths of the penduli and the spring are known. One of the inverted penduli is excited to generate the force disturbance to the other through the spring link. The aim of this paper is to design a controller based on the idea of fuzzy logic and the classical control methods, such that the second pendulum can reject the disturbance from the first pendulum significantly even without precise mathematical model of the system. The angular position and the angular speed for both inverted penduli are measured to feed into the fuzzy fusion controller via the proposed disturbance decoupling procedure. Based on the hardware-in-the-loop realtime simulation environment provided by MATLAB/Simulink RTW (real-time workshop) and plants in Quanser's rotary servo family, the subjective knowledge about this system in a progressive way. Extensive experimental results are reported to demonstrate how effectively benefit from the fuzzy logic control.
Sponsorship	IEEE Robotics & Automation Soc
Starting Page	1457
Ending Page	1462
File Size	457540
Page Count	6
File Format	PDF
ISBN	0780378660
DOI	10.1109/CIRA.2003.1222212
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-16
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Springs Fuzzy logic Fusion power generation Mathematical model Position measurement Velocity measurement Feeds MATLAB Real time systems
Content Type	Text
Resource Type	Article

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