International Journal of Computational Intelligence Systems

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Volume 9, Issue 2, April 2016, Pages 281 - 295

Control of a chain pendulum: A fuzzy logic approach

Authors
Ernesto Aranda-Escolástico1, earandae@bec.uned.es, María Guinaldo1, mguinaldo@dia.uned.es, Matilde Santos2, msantos@ucm.es, Sebastián Dormido1, sdormido@dia.uned.es
1Departamento de Informática y Automática, Universidad Nacional de Educación a Distancia (UNED), c/ Juan del Rosal 16, Madrid, 28040, Spain
2Departamento de Arquitectura de Computadores y Automática, Universidad Complutense de Madrid (UCM), c/ Profesor García Santesmases 9, Madrid, 28040, Spain
Received 4 May 2015, Accepted 3 January 2016, Available Online 1 April 2016.
DOI
10.1080/18756891.2016.1150001How to use a DOI?
Keywords
Intelligent control; fuzzy logic; rotary inverted pendulum; stabilization; Takagi-Sugeno model; region of attraction; robustness
Abstract

In this paper we present a real application of computational intelligence. Fuzzy control of a non-linear rotary chain pendulum is proposed and implemented on real prototypes. The final aim is to obtain a larger region of attraction for the stabilization of this complex system, that is, a more robust controller. As it is well-known, fuzzy logic exploits the tolerance for imprecision, uncertainty and partial truth to achieve tractability, robustness and low solution cost when dealing with complex systems. In this case, the control strategy is based on a Takagi-Sugeno fuzzy model of the strongly non-linear multivariable system. Simulation and experimental results on the real plant have been obtained and tested in a rotary inverted pendulum and in a double rotary inverted pendulum. They have been compared to other feedback control strategies such as Full State Feedback or Linear Quadratic Regulator with encouraging results. Fuzzy control allows to enlarge the stability region of control. Indeed, the region of attraction and therefore the stabilization has been enlarged up to over 17% for the real system.

Copyright
© 2016. the authors. Co-published by Atlantis Press and Taylor & Francis
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
International Journal of Computational Intelligence Systems
Volume-Issue
9 - 2
Pages
281 - 295
Publication Date
2016/04/01
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.1080/18756891.2016.1150001How to use a DOI?
Copyright
© 2016. the authors. Co-published by Atlantis Press and Taylor & Francis
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Ernesto Aranda-Escolástico
AU  - María Guinaldo
AU  - Matilde Santos
AU  - Sebastián Dormido
PY  - 2016
DA  - 2016/04/01
TI  - Control of a chain pendulum: A fuzzy logic approach
JO  - International Journal of Computational Intelligence Systems
SP  - 281
EP  - 295
VL  - 9
IS  - 2
SN  - 1875-6883
UR  - https://doi.org/10.1080/18756891.2016.1150001
DO  - 10.1080/18756891.2016.1150001
ID  - Aranda-Escolástico2016
ER  -