Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection

This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the...

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Main Authors:	M. F., Masrom, N. M., Ghani, Nurul Fadzlina, Jamin, N. A. A, Razali
Format:	Book Section
Language:	English English
Published:	Springer Singapore 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf

id	ump-24945
recordtype	eprints
spelling	ump-249452019-05-17T07:47:41Z http://umpir.ump.edu.my/id/eprint/24945/ Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali TK Electrical engineering. Electronics Nuclear engineering This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control. Springer Singapore 2018 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf pdf en http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf M. F., Masrom and N. M., Ghani and Nurul Fadzlina, Jamin and N. A. A, Razali (2018) Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 151-159. ISBN 978-981-13-3708-6 https://link.springer.com/chapter/10.1007/978-981-13-3708-6_13 https://doi.org/10.1007/978-981-13-3708-6_13
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
description	This paper focuses on the robust controller for triple Links inverted pendulum on two-wheeled system. The development of triple Link inverted pendulum on two-wheeled model using CAD based software, SimWise 4D is proposed. Interval Type-2 Fuzzy Logic Control (IT2FLC) used as control algorithm for the system. This system is multi input and multi output system which means each motor in this system is controlled by one controller to achieve stability or upright position for these three links. The robustness of the controller is tested by applying disturbance to the model to observe the response from the model to handle the uncertainties. The performance of IT2FLC is compared with Type-1 Fuzzy Logic Control (T1FLC) to demonstrate best controller for the system. The experiment results concerning the angular position for each three Links and the maximum value of disturbance rejection for both controllers are obtained by using heuristic tuning for input and output gain control.
format	Book Section
author	M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali
author_facet	M. F., Masrom N. M., Ghani Nurul Fadzlina, Jamin N. A. A, Razali
author_sort	M. F., Masrom
title	Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_short	Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_full	Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_fullStr	Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_full_unstemmed	Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
title_sort	stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection
publisher	Springer Singapore
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/ http://umpir.ump.edu.my/id/eprint/24945/1/32.%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf http://umpir.ump.edu.my/id/eprint/24945/2/32.1%20Stabilization%20control%20of%20a%20two-wheeled%20triple%20links%20inverted%20pendulum.pdf
first_indexed	2023-09-18T22:38:02Z
last_indexed	2023-09-18T22:38:02Z
_version_	1777416727031709696

Stabilization control of a two-wheeled triple links inverted pendulum system with disturbance rejection

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