Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC
A triple link inverted pendulum is dynamic and highly unstable system. In this paper, an intense comparison is demonstrated in order to stabilize triple link inverted pendulum on two wheels system based on fuzzy logic controls. The model of triple link inverted pendulum on wheels is developed using...
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ump-249852019-05-17T04:28:44Z http://umpir.ump.edu.my/id/eprint/24985/ Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC M. F., Masrom N. M, Ghani N. F., Jamin N. A. A, Razali TK Electrical engineering. Electronics Nuclear engineering A triple link inverted pendulum is dynamic and highly unstable system. In this paper, an intense comparison is demonstrated in order to stabilize triple link inverted pendulum on two wheels system based on fuzzy logic controls. The model of triple link inverted pendulum on wheels is developed using SimWise 4D CAD software environment and the model is integrated with Matlab/Simulink for control purpose. Each link is controlled by fuzzy controller to maintain in the upright position on two wheel system. The performance of each links is observed in terms of peak undershoot, peak overshoot, settling angle, and steady state angle. The result shows that Interval Type-2 fuzzy logic control (IT2FLC) is superior and give better performance compared to Type-1 fuzzy logic control (T1FLC). IEEE 2018 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/24985/1/control%20of%20triple%20link1.pdf M. F., Masrom and N. M, Ghani and N. F., Jamin and N. A. A, Razali (2018) Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2018), 20 October 2018 , Shah Alam, Malaysia. pp. 29-34.. ISBN 978-1-5386-5654-9 https://doi.org/10.1109/I2CACIS.2018.8603713 |
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TK Electrical engineering. Electronics Nuclear engineering |
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TK Electrical engineering. Electronics Nuclear engineering M. F., Masrom N. M, Ghani N. F., Jamin N. A. A, Razali Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
description |
A triple link inverted pendulum is dynamic and highly unstable system. In this paper, an intense comparison is demonstrated in order to stabilize triple link inverted pendulum on two wheels system based on fuzzy logic controls. The model of triple link inverted pendulum on wheels is developed using SimWise 4D CAD software environment and the model is integrated with Matlab/Simulink for control purpose. Each link is controlled by fuzzy controller to maintain in the upright position on two wheel system. The performance of each links is observed in terms of peak undershoot, peak overshoot, settling angle, and steady state angle. The result shows that Interval Type-2 fuzzy logic control (IT2FLC) is superior and give better performance compared to Type-1 fuzzy logic control (T1FLC). |
format |
Conference or Workshop Item |
author |
M. F., Masrom N. M, Ghani N. F., Jamin N. A. A, Razali |
author_facet |
M. F., Masrom N. M, Ghani N. F., Jamin N. A. A, Razali |
author_sort |
M. F., Masrom |
title |
Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
title_short |
Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
title_full |
Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
title_fullStr |
Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
title_full_unstemmed |
Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC |
title_sort |
control of triple link inverted pendulum on two-wheeled system using it2flc |
publisher |
IEEE |
publishDate |
2018 |
url |
http://umpir.ump.edu.my/id/eprint/24985/ http://umpir.ump.edu.my/id/eprint/24985/ http://umpir.ump.edu.my/id/eprint/24985/1/control%20of%20triple%20link1.pdf |
first_indexed |
2023-09-18T22:38:07Z |
last_indexed |
2023-09-18T22:38:07Z |
_version_ |
1777416732838723584 |