Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

J. Krishen; V. M. Becerra

doi:10.1109/CACSD-CCA-ISIC.2006.4777066

Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

Research output: Chapter in Book/Report/Conference proceeding › Other chapter contribution

Abstract

This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.

Original language	English
Title of host publication	2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	467-472
ISBN (Electronic)	0780397975
ISBN (Print)	0780397975
DOIs	https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4777066
Publication status	Published - 2006

Keywords

fuzzy control, mechanical systems/robotics, real-time systems

Access to Document

10.1109/CACSD-CCA-ISIC.2006.4777066

Cite this

Krishen, J., & Becerra, V. M. (2006). Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping. In 2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control (pp. 467-472). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4777066

Krishen, J. ; Becerra, V. M. / Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping. 2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. Piscataway : Institute of Electrical and Electronics Engineers Inc., 2006. pp. 467-472

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abstract = "This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.",

keywords = "fuzzy control, mechanical systems/robotics, real-time systems",

author = "J. Krishen and Becerra, {V. M.}",

year = "2006",

doi = "10.1109/CACSD-CCA-ISIC.2006.4777066",

language = "English",

isbn = "0780397975",

pages = "467--472",

booktitle = "2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control",

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Krishen, J & Becerra, VM 2006, Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping. in 2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. Institute of Electrical and Electronics Engineers Inc., Piscataway, pp. 467-472. https://doi.org/10.1109/CACSD-CCA-ISIC.2006.4777066

Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping. / Krishen, J.; Becerra, V. M.
2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. Piscataway: Institute of Electrical and Electronics Engineers Inc., 2006. p. 467-472.

Research output: Chapter in Book/Report/Conference proceeding › Other chapter contribution

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T1 - Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

AU - Krishen, J.

AU - Becerra, V. M.

PY - 2006

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N2 - This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.

AB - This paper develops fuzzy methods for control of the rotary inverted pendulum, an underactuated mechanical system. Two control laws are presented, one for swing up and another for the stabilization. The pendulum is swung up from the vertical down stable position to the upward unstable position in a controlled trajectory. The rules for the swing up are heuristically written such that each swing results in greater energy build up. The stabilization is achieved by mapping a stabilizing LQR control law to two fuzzy inference engines, which reduces the computational load compared with using a single fuzzy inference engine. The robustness of the balancing control is tested by attaching a bottle of water at the tip of the pendulum.

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DO - 10.1109/CACSD-CCA-ISIC.2006.4777066

M3 - Other chapter contribution

SN - 0780397975

SP - 467

EP - 472

BT - 2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

PB - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

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Krishen J, Becerra VM. Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping. In 2006 IEEE Conference on Computer-aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. Piscataway: Institute of Electrical and Electronics Engineers Inc. 2006. p. 467-472 doi: 10.1109/CACSD-CCA-ISIC.2006.4777066

Efficient fuzzy control of a rotary inverted pendulum based on LQR mapping

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Keywords

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