Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization

This paper presents a motion control of a triple link inverted pendulum on two-wheeled system, through Interval Type-2 Fuzzy logic Control based Particle Swarm Optimization. Despite this model’s heightened non-linearity and complexity for being a triple link system, it has enabled additional degree...

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Main Authors:	Muhammad Firdaus, Masrom, Normaniha, Abd Ghani, Nur Fadzlina, Jamin, Nur Atiqah Adlina, Razali
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2019
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/26800/ http://umpir.ump.edu.my/id/eprint/26800/1/Motion%20control%20of%20triple%20links%20inverted%20pendulum%20on%20two1.pdf

id	ump-26800
recordtype	eprints
spelling	ump-268002019-12-10T08:30:28Z http://umpir.ump.edu.my/id/eprint/26800/ Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization Muhammad Firdaus, Masrom Normaniha, Abd Ghani Nur Fadzlina, Jamin Nur Atiqah Adlina, Razali TK Electrical engineering. Electronics Nuclear engineering This paper presents a motion control of a triple link inverted pendulum on two-wheeled system, through Interval Type-2 Fuzzy logic Control based Particle Swarm Optimization. Despite this model’s heightened non-linearity and complexity for being a triple link system, it has enabled additional degree of freedom for having a two-wheeled mechanism. The model was developed in SimWise 4D to maintain its complex features, while allowing observations to the system’s movements. The developed system was then integrated with Interval Type-2 Fuzzy Logic Control, as designed in Matlab/Simulink. Specifically, Particle Swarm Optimization was applied to obtain the optimal values for input/output gain and parameters of the Interval Type-2 Fuzzy Logic Control, towards enhancing the system’s performance. Results have shown that the proposed controller was able to perform forward and backward motions control to the system in an upright position. The system is able to perform motion task with recorded system velocity of 0.04m/s and 0.02m/s for forward and backward motions, respectively. The controller was then evaluated based on its velocity and angular position or in stable manner. This system is envisaged to be very vital in the development of mobile robots with extended functionality. IEEE 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26800/1/Motion%20control%20of%20triple%20links%20inverted%20pendulum%20on%20two1.pdf Muhammad Firdaus, Masrom and Normaniha, Abd Ghani and Nur Fadzlina, Jamin and Nur Atiqah Adlina, Razali (2019) Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization. In: IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2019), 29 November - 1 December 2019 , Batu Feringghi, Penang, Malaysia. pp. 1-6.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Muhammad Firdaus, Masrom Normaniha, Abd Ghani Nur Fadzlina, Jamin Nur Atiqah Adlina, Razali Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
description	This paper presents a motion control of a triple link inverted pendulum on two-wheeled system, through Interval Type-2 Fuzzy logic Control based Particle Swarm Optimization. Despite this model’s heightened non-linearity and complexity for being a triple link system, it has enabled additional degree of freedom for having a two-wheeled mechanism. The model was developed in SimWise 4D to maintain its complex features, while allowing observations to the system’s movements. The developed system was then integrated with Interval Type-2 Fuzzy Logic Control, as designed in Matlab/Simulink. Specifically, Particle Swarm Optimization was applied to obtain the optimal values for input/output gain and parameters of the Interval Type-2 Fuzzy Logic Control, towards enhancing the system’s performance. Results have shown that the proposed controller was able to perform forward and backward motions control to the system in an upright position. The system is able to perform motion task with recorded system velocity of 0.04m/s and 0.02m/s for forward and backward motions, respectively. The controller was then evaluated based on its velocity and angular position or in stable manner. This system is envisaged to be very vital in the development of mobile robots with extended functionality.
format	Conference or Workshop Item
author	Muhammad Firdaus, Masrom Normaniha, Abd Ghani Nur Fadzlina, Jamin Nur Atiqah Adlina, Razali
author_facet	Muhammad Firdaus, Masrom Normaniha, Abd Ghani Nur Fadzlina, Jamin Nur Atiqah Adlina, Razali
author_sort	Muhammad Firdaus, Masrom
title	Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
title_short	Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
title_full	Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
title_fullStr	Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
title_full_unstemmed	Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
title_sort	motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization
publisher	IEEE
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/26800/ http://umpir.ump.edu.my/id/eprint/26800/1/Motion%20control%20of%20triple%20links%20inverted%20pendulum%20on%20two1.pdf
first_indexed	2023-09-18T22:41:57Z
last_indexed	2023-09-18T22:41:57Z
_version_	1777416974153809920

Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization

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