期刊
IETE JOURNAL OF RESEARCH
卷 69, 期 6, 页码 3443-3454出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/03772063.2021.1911690
关键词
Anti-swing control; double serial link rotary pendulum; fuzzy logic control; fuzzy LQR; linear quadratic regulator
This paper presents a FLQR anti-swing controller for a Double Serial Link Rotary Pendulum system and compares it with the classical LQR controller. The performance of the FLQR controller is shown to be better in terms of time-domain control specifications and vibration suppression capability.
In this work, a Fuzzy Linear Quadratic Regulator (FLQR) is developed for the anti-swing control problem of a Double Serial Link Rotary Pendulum (DSLRP) system. The main objective of this paper is to study the anti-swing FLQR controller and compare it with the classical LQR controller. A dynamic mechanical model of the DLRP was simulated numerically in the SimMechanics toolbox/MATLAB. This model can be defined mathematically as the single input and multiple output non-linear dynamic equations. To verify the performance of both anti-swing controllers, different time-domain control specifications are computed. Moreover, to show the controllers performance, simulation and experiments results are given and compared. According to the comparative results, the FLQR anti-swing controller produces better results than classical LQR in term of time-domain control specifications. Moreover, the controllers' dynamic responses were compared according to robustness analysis in the presence of external force disturbance. The results obtained here indicate that the FLQR anti-swing controller product better performance than others in term of vibration suppression capability.
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