TY - GEN
T1 - Hybrid fuzzy control for swinging up and stabilizing of the pendulum-cart system
AU - Agustinah, Trihastuti
AU - Jazidie, Achmad
AU - Nuh, Mohammad
PY - 2011
Y1 - 2011
N2 - This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and stabilizing of the pendulum-cart system. The fuzzy swing-up controller is employed to swing the pendulum up from its pendant position to the stabilization zone in the upright position using as few rules as possible. After the pendulum reaches the zone, the fuzzy stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The controller is designed based on a robust performance state feedback controller using Linear Matrix Inequalities (LMI) approach for Takagi-Sugeno fuzzy systems. Numerical simulation and real-time experiment are presented to show the effectiveness of the method.
AB - This paper presents the design and implementation of a hybrid fuzzy control for the swinging up and stabilizing of the pendulum-cart system. The fuzzy swing-up controller is employed to swing the pendulum up from its pendant position to the stabilization zone in the upright position using as few rules as possible. After the pendulum reaches the zone, the fuzzy stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The controller is designed based on a robust performance state feedback controller using Linear Matrix Inequalities (LMI) approach for Takagi-Sugeno fuzzy systems. Numerical simulation and real-time experiment are presented to show the effectiveness of the method.
KW - Linear Matrix Inequalities
KW - Takagi-Sugeno fuzzy model
KW - pendulum-cart system
KW - robust state feedback controller
UR - http://www.scopus.com/inward/record.url?scp=80051900807&partnerID=8YFLogxK
U2 - 10.1109/CSAE.2011.5952813
DO - 10.1109/CSAE.2011.5952813
M3 - Conference contribution
AN - SCOPUS:80051900807
SN - 9781424487257
T3 - Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
SP - 109
EP - 113
BT - Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
T2 - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
Y2 - 10 June 2011 through 12 June 2011
ER -