Adaptive fuzzy sliding mode control of the cart‐pole underactuated system

Bessa, Wallace Moreira; Kreuzer, Edwin

doi:10.1002/pamm.201610388

Cited by 3 publications

(1 citation statement)

References 2 publications

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“…A number of techniques have been deployed such as the energy-based swinging up control, 5 passivity-based control, 6 sliding mode control, 7 and adaptive control. 8 A number of the reported control schemes need the express information of the framework that can restrict their relevancy just in presence of disturbance and un-modeled dynamics.…”

Section: Introductionmentioning

confidence: 99%

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Barkat

Hamayun

Ijaz

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transient response data, a step response is transmitted by virtual instrument to the inverted pendulum by which model of inverted pendulum is identified. System model depicts its characteristics, so this model is employed in designing controller. To improve the performance and robustness, linear parameter–varying controller is created to deal with parameter distinctions. Furthermore, the effectiveness of this designed robust controller is checked by integrating on hardware system. The discovered model is checked by evaluating the presented approaches in real time and simulation outcomes with traditional controller as proportional–integral–derivative controller and linear–quadratic regulator.

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Section: Introductionmentioning

confidence: 99%

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Barkat

Hamayun

Ijaz

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach

Ramírez‐Neria

Gao

Sira‐Ramírez

et al. 2018

2018 Annual American Control Conference (ACC)

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Design of Hybrid Controller using Qualitative Simulation Internal Modeling for Inverted Pendulum

Chunrong

Qaisar

Aslam³

2022

IJRCS

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Multiple model methods for nonlinear dynamical system control are appealing because local models can be simple and obvious, and global dynamics can be studied in terms of transitions between small operating zones. In this study, we propose that using qualitative models strengthens the multiple model method even more by enabling each local model to explain a huge class of effective nonlinear dynamical systems. Furthermore, reasoning using qualitative models reveals weak necessary conditions sufficient to verify qualitative features like stability analysis. The authors show the method by creating a global controller for the free pendulum. In addition, local controllers are specified and validated by comparing their patterns to basic general qualitative models. Our proposed procedure establishes qualitative limitations on controller designs that are sufficient to ensure the necessary local attributes and to establish feasible transitions between local areas for the existing problems. As a result, the continuous phase picture may be reduced to a simple transitional graph. The degrees of freedom in the system that are not bound by the qualitative description are still accessible to the designer for optimization for any other purpose. An example of a pendulum plant illustrates the effectiveness of the proposed method.

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Adaptive fuzzy sliding mode control of the cart‐pole underactuated system

Cited by 3 publications

References 2 publications

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach

Design of Hybrid Controller using Qualitative Simulation Internal Modeling for Inverted Pendulum

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