Stabilization of an X-Y inverted pendulum using adaptive gain scheduling PID controllers
نویسندگان
چکیده
منابع مشابه
Fuzzy Gain Scheduling of Coupled PID Controllers for Stabilization of the Inverted Pendulum
Changes in operating conditions can alter performances of nonlinear processes controlled with a fixed PID algorithm. One way of preventing degradation is to develop a supervised control system. In this paper we present some results about fuzzy gain scheduling of a double PID controller for stabilization of an inverted pendulum on a cart. First, on the basis of the responses obtained with an uns...
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This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
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An adaptive fuzzy controller is constructed from a set of fuzzy IF-THEN rules whose parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given-trajectory. In this paper, two adaptive fuzzy controllers are designed based on the Lyapunov synthesis approach. We require that the final closed-loop system must be globally stable in the s...
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An inverted pendulum system (IPS) is a highly nonlinear dynamical open loop unstable system, typically used as a benchmark to verify the performance of controllers. The IPS emulates the behaviour of an altitude control of a space booster or rocket on take-off. The problem is to develop suitable controllers to maintain the stabilization and swing up of an inverted pendulum on a cart. This paper ...
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ژورنال
عنوان ژورنال: Journal of Engineering Research
سال: 2015
ISSN: 2307-1877,2307-1885
DOI: 10.7603/s40632-015-0014-7