Adaptive Fuzzy Control of the Inverted Pendulum Problem

In this brief, we address adaptive fuzzy control of the inverted-pendulum on a cart problem as an underactuated mechanical system. Many of the schemes presented in the adaptive fuzzy control literature tackle the problem as a second-order system based on feedback linearization. Such schemes render u...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2006-11, Vol.14 (6), p.1135-1144
Main Authors: El-Hawwary, M.I., Elshafei, A.L., Emara, H.M., Fattah, H.A.A.
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Adaptive control systems
Applied sciences
Asymptotic properties
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Dynamical systems
Dynamics
Exact sciences and technology
feedback linearization (FBL)
Fundamental areas of phenomenology (including applications)
Fuzzy control
fuzzy disturbance observer (FDO)
Fuzzy systems
Linear feedback control systems
Mechanical systems
Nonlinear control systems
Nonlinear systems
Physics
Programmable control
Rockets
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stabilization
under-actuated systems
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Summary:In this brief, we address adaptive fuzzy control of the inverted-pendulum on a cart problem as an underactuated mechanical system. Many of the schemes presented in the adaptive fuzzy control literature tackle the problem as a second-order system based on feedback linearization. Such schemes render unstable zero dynamics for the cart-pole systems which hinders experimental implementation. The paradigm presented is also based on a feedback linearizing (FBL) scheme, yet it ensures system stabilization. A damping term and an adaptive fuzzy control term are added to guarantee asymptotic stability and to account for disturbances. Experimental results illustrate the success of the proposed controller in stabilization and cart-position tracking of a reference trajectory
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2006.880217