FUZZY ADAPTIVE OBSERVER BASED CONTROL OF DOUBLE INVERTED PENDULUM

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SARABADANI TAFRESHI EHSAN; NIKRANJBAR ABOLFATH

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Paper Information

Journal: Journal of Control Year:2017 | Volume:11 | Issue:3 Page(s): 59-71

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Information Journal Paper

Title

FUZZY ADAPTIVE OBSERVER BASED CONTROL OF DOUBLE INVERTED PENDULUM

Author(s)

SARABADANI TAFRESHI EHSAN | NIKRANJBAR ABOLFATH | Issue Writer Certificate

Keywords

FUZZY ADAPTIVE OBSERVERQ1

INDIRECT FUZZY CONTROLQ1

DOUBLE INVERTED PENDULUM (DIP)Q1

Abstract

In this paper, stabilization and trajectory tracking control of the double inverted pendulum (DIP) as a benchmark under actuated highly nonlinear dynamical system, attributed with specific control complexities using hybrid observer based indirect fuzzy adaptive control is investigated. Due to inherent nature of the process that the equal number of control inputs as the degrees of freedom of the plant are not available, therefore, setting up the control action faces with serious challenges. Meanwhile, inaccessibility assumption to some state parameters as the most important factor in designing the controller by means of the proposed control method is for the first time addressed stabilizing the specified plant in this research. In order to illustrate the performance of the proposed approach, specific simulation software is developed in Matlab/Simulink platform.Set of conducted simulation results and comparative studies with the published papers addressing the same aim, showing the capability and excellence of the proposed hybrid FUZZY ADAPTIVE OBSERVER control approach achieving the targets in terms of establishing stabilization, trajectory tracking and robustifying the under controlled plant.

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APA: Copy

SARABADANI TAFRESHI, EHSAN, & NIKRANJBAR, ABOLFATH. (2017). FUZZY ADAPTIVE OBSERVER BASED CONTROL OF DOUBLE INVERTED PENDULUM. JOURNAL OF CONTROL, 11(3 ), 59-71. SID. https://sid.ir/paper/120802/en

Vancouver: Copy

SARABADANI TAFRESHI EHSAN, NIKRANJBAR ABOLFATH. FUZZY ADAPTIVE OBSERVER BASED CONTROL OF DOUBLE INVERTED PENDULUM. JOURNAL OF CONTROL[Internet]. 2017;11(3 ):59-71. Available from: https://sid.ir/paper/120802/en

IEEE: Copy

EHSAN SARABADANI TAFRESHI, and ABOLFATH NIKRANJBAR, “FUZZY ADAPTIVE OBSERVER BASED CONTROL OF DOUBLE INVERTED PENDULUM,” JOURNAL OF CONTROL, vol. 11, no. 3 , pp. 59–71, 2017, [Online]. Available: https://sid.ir/paper/120802/en

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