Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum
A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and si...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2012/634985 |
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| _version_ | 1850172032026673152 |
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| author | Huanhuan Mai Ying-Jeh Huang Xiaofeng Liao Ping-Chou Wu |
| author_facet | Huanhuan Mai Ying-Jeh Huang Xiaofeng Liao Ping-Chou Wu |
| author_sort | Huanhuan Mai |
| collection | DOAJ |
| description | A simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use genetic algorithm (GA) to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller. |
| format | Article |
| id | doaj-art-a154828f293d4e9881502bf433d74454 |
| institution | OA Journals |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a154828f293d4e9881502bf433d744542025-08-20T02:20:09ZengWileyJournal of Control Science and Engineering1687-52491687-52572012-01-01201210.1155/2012/634985634985Simple Model-Free Controller for the Stabilization of Planetary Inverted PendulumHuanhuan Mai0Ying-Jeh Huang1Xiaofeng Liao2Ping-Chou Wu3Department of Computer, Chongqing University, Chongqing 400044, ChinaDepartment of Electrical Engineering, Yuan Ze University, Chung-Li 32003, TaiwanDepartment of Computer, Chongqing University, Chongqing 400044, ChinaDepartment of Electrical Engineering, Yuan Ze University, Chung-Li 32003, TaiwanA simple model-free controller is presented for solving the nonlinear dynamic control problems. As an example of the problem, a planetary gear-type inverted pendulum (PIP) is discussed. To control the inherently unstable system which requires real-time control responses, the design of a smart and simple controller is made necessary. The model-free controller proposed includes a swing-up controller part and a stabilization controller part; neither controller has any information about the PIP. Since the input/output scaling parameters of the fuzzy controller are highly sensitive, we use genetic algorithm (GA) to obtain the optimal control parameters. The experimental results show the effectiveness and robustness of the present controller.http://dx.doi.org/10.1155/2012/634985 |
| spellingShingle | Huanhuan Mai Ying-Jeh Huang Xiaofeng Liao Ping-Chou Wu Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum Journal of Control Science and Engineering |
| title | Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum |
| title_full | Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum |
| title_fullStr | Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum |
| title_full_unstemmed | Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum |
| title_short | Simple Model-Free Controller for the Stabilization of Planetary Inverted Pendulum |
| title_sort | simple model free controller for the stabilization of planetary inverted pendulum |
| url | http://dx.doi.org/10.1155/2012/634985 |
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