Please use this identifier to cite or link to this item:
https://www.um.edu.mt/library/oar/handle/123456789/99344
Title: | Real-time swing-up control of non-linear inverted pendulum using Lyapunov based optimized fuzzy logic control |
Authors: | Jain, Arpit Sharma, Abhinav Jately, Vibhu Azzopardi, Brian Choudhury, Sushabhan |
Keywords: | Entropy Pendulum Real-time control Lyapunov stability |
Issue Date: | 2021 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | Jain, A., Sharma, A., Jately, V., Azzopardi, B., & Choudhury, S. (2021). Real-time swing-up control of non-linear inverted pendulum using Lyapunov based optimized fuzzy logic control. IEEE Access, 9, 50715-50726. |
Abstract: | This paper investigates the efficacy of an optimized fuzzy logic controller for real-time swing-up control and stabilization to a rigidly coupled twin-arm inverted pendulum system. The proposed fuzzy controller utilizes Lyapunov criteria for controller design to ensure system stability. The membership functions are further optimized based on the entropy function. The controller design is based on the black-box approach, eliminating the need for an accurate mathematical model of the system. The experimental results shows an improvement in the transient and steady-state response of the controlled system as compared to other state-of-the-art controllers. The proposed controller exhibits a small settling time of 4.0 s and reaches the stables wing-upposition within 5 oscillations. Various error indices are evaluated that validates an overall improvement in the performance of the system. |
URI: | https://www.um.edu.mt/library/oar/handle/123456789/99344 |
Appears in Collections: | Scholarly Works - FacEngSCE |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Real_Time_Swing_Up_Control_of_Non_Linear_Inverted_Pendulum_Using_Lyapunov_Based_Optimized_Fuzzy_Logic_Control_2021.pdf | 1.65 MB | Adobe PDF | View/Open |
Items in OAR@UM are protected by copyright, with all rights reserved, unless otherwise indicated.