FUZZY CONTROL FOR CIRCULAR INVERTED PENDULUM

Alan Hood, Umut Avci

Abstract

This paper offers alternative solutions to existing problems in inverted pendulum designs. Three main problems can be listed as limited track length, hardware complexity and inappropriate control algorithm usage. Circularly moving cart was proposed to provide unlimited track length. In order to reduce the hardware complexity, the system was controlled by a microcontroller. Finally, fuzzy control was used for the control algorithm because of its efficiency, robustness and simplicity. Efficiency of the system is presented by carrying out experiments on developed inverted pendulum control system.

References

  1. Gupta, M. M., Sinha N. K. 1995. Intelligent Control Systems. New Jersey. IEEE Press.
  2. Joldis, A. 2006. Supported inverted pendulum, another kind of inverted pendulum. IEEE International Conference on Automation, Quality and Testing, Robotics. Vol. 1. pp. 143-148.
  3. Lundberg, K. H., Roberge, J. K. 2003. Classical dualinverted-pendulum control. Proceedings. 42nd IEEE Conference on Decision and Control. Vol. 5. pp. 4399 - 4404.
  4. Mirza, A., Hussain, S. 1998. Robust controller for nonlinear and unstable systems: inverted pendulum. Journal of AMSE. Vol. 55. No. 3,4.
  5. Ray, G., Das, S. K., Tyagi, B., 2005. Stabilization of Inverted Pendulum via Fuzzy Control, IE(I) JournalEL.
  6. Tsai, F. K., Lin, J.S. 2003. Backstepping Control Design of 360-Degree Inverted Pendulum Systems. Automatic Control Conference. pp. 138 - 143.
  7. Wang, Z., Chen, Y., Fang, N., 2004. Minimum-time swing-up of a rotary inverted pendulum by iterative impulsive control. Proceedings of the 2004 American Control Conference. Vol. 2. pp. 1335 - 1340.
  8. Yurkovich, S., Widjaja, M., 1996. Fuzzy controller synthesis for an inverted pendulum system. Control Engineering Practice. Vol. 4. Issue 4. pp. 455-469.
  9. Microchip PIC18F4620 Data Sheet. [online].
  10. http://ww1.microchip.com/downloads/en/DeviceDoc/396 26e.pdf
Download


Paper Citation


in Harvard Style

Hood A. and Avci U. (2009). FUZZY CONTROL FOR CIRCULAR INVERTED PENDULUM . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 351-354. DOI: 10.5220/0002178203510354


in Bibtex Style

@conference{icinco09,
author={Alan Hood and Umut Avci},
title={FUZZY CONTROL FOR CIRCULAR INVERTED PENDULUM},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={351-354},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002178203510354},
isbn={978-989-8111-99-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - FUZZY CONTROL FOR CIRCULAR INVERTED PENDULUM
SN - 978-989-8111-99-9
AU - Hood A.
AU - Avci U.
PY - 2009
SP - 351
EP - 354
DO - 10.5220/0002178203510354