Title: Segmented control based on fuzzy logic control for non-linear inverted pendulum swing-up
Authors: Cheng-Shion Shieh
Addresses: Department of Electrical Engineering, Far-East University, No. 49, Zhonghua Rd., Xinshi Dist., Tainan City 74448, Taiwan
Abstract: This paper proposes a switching control design for a rotating inverted pendulum. This design mode can be extended to any other existed control system to enhance their system performance. The existed rotating inverted pendulum control system consists of two controllers, namely, swing-up controller and stabilising controller. Here, we adopt three controller candidates to enhance system performance. A fuzzy logic control (FLC) is proposed to form the third controller candidate embedded into the existing one for the non-linear rotating inverted pendulum system. A given example illustrates the availability of the proposed design method.
Keywords: fuzzy logic controllers; fuzzy control; FLC; rotating inverted pendulum; switching control; segmented control; switching control; swing-up control; stabilising control.
DOI: 10.1504/IJAAC.2014.061666
International Journal of Automation and Control, 2014 Vol.8 No.1, pp.88 - 97
Received: 19 Nov 2013
Accepted: 29 Mar 2014
Published online: 30 Jun 2014 *