Journal of Vibration and Control, ( ISI ), Volume (29), Year (2021-12) , Pages (131-147)

Title : ( Development of a fuzzy-state feedback regulator for stabilizing a flexible inverted pendulum system )

Authors: Pouriya Pourgholam , Hamid Moeenfard ,

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Abstract

Accurate modeling and efficient control of inverted pendulums have always been a challenge for researchers. So, the current research aims to achieve the following objectives: (I) proposing a comprehensive dynamic model for the inverted pendulums which accounts for the flexibility of the pendulum bar and (II) suggesting an appropriate supervisory fuzzy-pole placement control strategy for stabilizing the pendulum system. Using a Lagrangian formulation, the equations of motion are derived and linearized. Then, a state feedback controller with a reduced-order observer is designed to stabilize the system. Closed-loop simulations reveal that at least six modes shall be considered in the dynamic equations. To improve the quality of the transient response, a novel fuzzy system is developed for real-time assignment of the controller poles. Simulation results demonstrate that the control quality is significantly improved by adding a supervisory fuzzy system to the control loop. The developed approach for dynamic modeling of the system, and the idea of multi-level fuzzy-pole placement control architecture developed in this paper, may be successfully applied to improve the response specifications in other dynamic systems.

Keywords

, Inverted pendulum system, flexible pendulum, pole placement, fuzzy control, supervisory control
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@article{paperid:1087232,
author = {Pourgholam, Pouriya and Moeenfard, Hamid},
title = {Development of a fuzzy-state feedback regulator for stabilizing a flexible inverted pendulum system},
journal = {Journal of Vibration and Control},
year = {2021},
volume = {29},
month = {December},
issn = {1077-5463},
pages = {131--147},
numpages = {16},
keywords = {Inverted pendulum system; flexible pendulum; pole placement; fuzzy control; supervisory control},
}

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%0 Journal Article
%T Development of a fuzzy-state feedback regulator for stabilizing a flexible inverted pendulum system
%A Pourgholam, Pouriya
%A Moeenfard, Hamid
%J Journal of Vibration and Control
%@ 1077-5463
%D 2021

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