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首页> 外文会议>Fuzzy logic and applications >Proficiency of Fuzzy Logic Controller for Stabilization of Rotary Inverted Pendulum based on LQR Mapping
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Proficiency of Fuzzy Logic Controller for Stabilization of Rotary Inverted Pendulum based on LQR Mapping

机译：基于LQR映射的倒立摆模糊逻辑控制器的精通能力。

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摘要

Stabilization of an inverted pendulum is one of the most appealing and conventional problem for control engineering. This system has extremely nonlinear representation and entirely unstable dynamics. The main idea of this research was to design control algorithms for the balancing of rotary inverted pendulum. Research gives an idea about a convenient approach to implement a realtime control which harmonizes the pendulum in vertical-upright position. Two stabilization controllers, LQR (Linear Quadratic Regulator) and Fuzzy Logic were designed to deal with the non-linear characteristics of the system. Outcome of both control methods commencing computer simulation are specified to illustrate the efficiency of these controllers. The projected intelligent hybrid controller is evaluated by means of the conventional controller and reliability is demonstrated. The results showed that fuzzy controller exhibit improved performance than LQR near the linearized region. The paper widened the dynamical representation and initiates the implementation of the considered schemes comparatively.
机译：倒立摆的稳定是控制工程最吸引人的常规问题之一。该系统具有极其非线性的表示形式和完全不稳定的动力学特性。这项研究的主要思想是设计用于旋转倒立摆平衡的控制算法。研究给出了一种实现实时控制的便捷方法的思想，该实时控制可以协调垂直-垂直位置的摆。设计了两个稳定控制器LQR（线性二次调节器）和模糊逻辑来处理系统的非线性特性。说明了两种控制方法从计算机仿真开始的结果，以说明这些控制器的效率。通过常规控制器对投影智能混合控制器进行了评估，并证明了其可靠性。结果表明，模糊控制器在线性化区域附近的性能优于LQR。本文扩大了动态表示，并比较地启动了所考虑方案的实施。

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  • 来源
    《Fuzzy logic and applications》|2013年|201-211|共11页
  • 会议地点 Genoa(IT)
  • 作者

    Moez Ul Hassan; Muhammad B. Kadri; Imran Amin;

  • 作者单位

    Electronics and Power Engineering Department PN Engineering College, National University of Sciences and Technology, Islamabad, Pakistan,Centre of Renewable Energy Research, SZABIST Karachi, Pakistan;

    Electronics and Power Engineering Department PN Engineering College, National University of Sciences and Technology, Islamabad, Pakistan;

    Centre of Renewable Energy Research, SZABIST Karachi, Pakistan;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    rotary inverted pendulum; stabilization; LQR; fuzzy logic controller; simulink;

    机译：旋转倒立摆稳定LQR;模糊逻辑控制器Simulink;

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