Fuzzy-logic control of an inverted pendulum with vision feedback

Experimental Studies of Swing Up and Balancing Control of an Inverted Pendulum System Using Intelligent Algorithms Aimed at Advanced Control Education

“…Among many advanced control methods, an intelligent control method is one of the promising tools for controlling complicated systems, including robots and mechatronics systems. Many successful control performances by intelligent control algorithms, including fuzzy logic and neural network control, have been reported in the literature [1,3,9,10,[14][15][16].…”

“…Inverted pendulum systems with multiple serial linkage structures have been presented to solve challenging control performance by mimicking an acrobat system with two links [7][8][9][10][11][12][13]. Simulation studies of the swing up motion of an acrobat have been performed using the partial feedback linearization method [11] and the energy-based control method [12].…”

“…Various types of inverted pendulums have been presented in the literature for either educational or research purposes [1][2][3][4][5][6][7][8][9][10][11][12][13]. Pendulums with multiple degrees of freedom have been presented and controlled to verify control algorithms.…”

Dynamic Modelling, Tracking Control and Simulation Results of a Novel Underactuated Wheeled Manipulator (WAcrobot)

“…Examples include classic single pendulum on a cart (Åström et al, 2008;Åström & Furuta, 2000), Acrobot and Pendubot (Fantoni et al, 2000;Spong, 1994;1995;Graichen et al, 2007;Brown & Passino, 1997) and the rotary double inverted pendulum (Yamakita et al, 1993;1995). In addition to the stabilization and swing-up of different kinds of inverted pendulum robots, trajectory tracking of these underactuated systems has gained attention by researches (Cho & Jung, 2003;Chanchareon et al, 2006;Hung et al, 1997;Magana & Holzapfel, 1998). There are two major approaches to construct the trajectory tracking controller for such nonlinear systems.…”

Experimental Studies of Neural Compensation Technique for a Fuzzy Controlled Inverted Pendulum System

“…Fuzzy control has demonstrated successful performances in numerous examples in various control applications. Balancing control of the inverted pendulum system has been successfully demonstrated by fuzzy controllers [1][2][3]. Fuzzy controllers have been designed for controlling robot manipulators as well.…”