Fuzzy Logic Control of Rotational Inverted Pendulum

Abstract:

Article Preview

The rotational inverted pendulum is a structure that was primarily developed by Katsuhisa Furuta. It is widely used thorough the control laboratories to demonstrate the effectiveness of nonlinear control algorithms. The rotational inverted pendulum is a nonlinear system of fourth order with a single input variable. In this article the full dynamic equations of motion of the rotational inverted pendulum are derived using Lagrangian formulation. Consequently, a comparison of obtained mathematical model with other models described and available in literature is conducted by means of computer simulations. Eventually, a complete energy build-up swing-up algorithm and fuzzy stabilization algorithm for the system are developed. The control algorithm is then implemented on a PLC device in order to control the existing laboratory stand available at the Department of Process Control [1]. The algorithm is implemented with the use of ladder logic and structured text programming language. The robustness of elaborated balancing control is verified by subsequent real-time tests conducted on the laboratory stand.

Info:

Periodical:

Solid State Phenomena (Volume 177)

Edited by:

Andrzej Kot

Pages:

84-92

DOI:

10.4028/www.scientific.net/SSP.177.84

Citation:

I. Dominik "Fuzzy Logic Control of Rotational Inverted Pendulum", Solid State Phenomena, Vol. 177, pp. 84-92, 2011

Online since:

July 2011

Authors:

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.