T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum
This article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base...
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Series: | Advances in Fuzzy Systems |
Online Access: | http://dx.doi.org/10.1155/2020/8835511 |
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doaj-af4f2c6b35fb472587285d7da2c3d2632020-12-21T11:41:28ZengHindawi LimitedAdvances in Fuzzy Systems1687-71011687-711X2020-01-01202010.1155/2020/88355118835511T-S Fuzzy System Controller for Stabilizing the Double Inverted PendulumBoutaina Elkinany0Mohammed Alfidi1Redouane Chaibi2Zakaria Chalh3Laboratory of Engineering Systems and Applications, Sidi Mohammed Ben Abdellah University, Fez, MoroccoLaboratory of Engineering Systems and Applications, Sidi Mohammed Ben Abdellah University, Fez, MoroccoDepartment of Physics, Sidi Mohammed Ben Abdellah University, LESSI, Fez, MoroccoLaboratory of Engineering Systems and Applications, Sidi Mohammed Ben Abdellah University, Fez, MoroccoThis article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base. To achieve this objective, we designed a dynamic Lagrangian conceptualization of the double inverted pendulum and a state feedback representation based on the simple convex polytypic transformation. Finally, we used the fuzzy state feedback approach to linearize the mathematical nonlinear model and to develop a fuzzy controller H∞, given its great ability to simplify nonlinear systems in order to reduce the error rate and to increase precision. In our virtual conceptualization of the inverted pendulum, we used MATLAB software to simulate the movement of the system before applying a command on the upper part of the system to check its stability. Concerning the nonlinearities of the system, we have found a state feedback fuzzy control approach. Overall, the simulation results have shown that the fuzzy state feedback model is very efficient and flexible as it can be modified in different positions.http://dx.doi.org/10.1155/2020/8835511 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Boutaina Elkinany Mohammed Alfidi Redouane Chaibi Zakaria Chalh |
spellingShingle |
Boutaina Elkinany Mohammed Alfidi Redouane Chaibi Zakaria Chalh T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum Advances in Fuzzy Systems |
author_facet |
Boutaina Elkinany Mohammed Alfidi Redouane Chaibi Zakaria Chalh |
author_sort |
Boutaina Elkinany |
title |
T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum |
title_short |
T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum |
title_full |
T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum |
title_fullStr |
T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum |
title_full_unstemmed |
T-S Fuzzy System Controller for Stabilizing the Double Inverted Pendulum |
title_sort |
t-s fuzzy system controller for stabilizing the double inverted pendulum |
publisher |
Hindawi Limited |
series |
Advances in Fuzzy Systems |
issn |
1687-7101 1687-711X |
publishDate |
2020-01-01 |
description |
This article provides a representation of the double inverted pendulum system that is shaped and regulated in response to torque application at the top rather than the bottom of the pendulum, given that most researchers have controlled the double inverted pendulum based on the lower part or the base. To achieve this objective, we designed a dynamic Lagrangian conceptualization of the double inverted pendulum and a state feedback representation based on the simple convex polytypic transformation. Finally, we used the fuzzy state feedback approach to linearize the mathematical nonlinear model and to develop a fuzzy controller H∞, given its great ability to simplify nonlinear systems in order to reduce the error rate and to increase precision. In our virtual conceptualization of the inverted pendulum, we used MATLAB software to simulate the movement of the system before applying a command on the upper part of the system to check its stability. Concerning the nonlinearities of the system, we have found a state feedback fuzzy control approach. Overall, the simulation results have shown that the fuzzy state feedback model is very efficient and flexible as it can be modified in different positions. |
url |
http://dx.doi.org/10.1155/2020/8835511 |
work_keys_str_mv |
AT boutainaelkinany tsfuzzysystemcontrollerforstabilizingthedoubleinvertedpendulum AT mohammedalfidi tsfuzzysystemcontrollerforstabilizingthedoubleinvertedpendulum AT redouanechaibi tsfuzzysystemcontrollerforstabilizingthedoubleinvertedpendulum AT zakariachalh tsfuzzysystemcontrollerforstabilizingthedoubleinvertedpendulum |
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1714988522255941632 |