期刊
IEEE ACCESS
卷 9, 期 -, 页码 50715-50726出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3058645
关键词
Real-time systems; Control systems; Fuzzy logic; Optimization; Mathematical model; Entropy; Asymptotic stability; Fuzzy entropy; real-time control; twin-arm inverted pendulum; fuzzy membership function optimization
资金
- European Commission H2020 TWINNING Networking for Excellence in Electric Mobility Operations (NEEMO) [857484]
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 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.
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 stable swing-up position within 5 oscillations. Various error indices are evaluated that validates an overall improvement in the performance of the system.
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