Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum
Abstract This paper presents a novel and comprehensive control framework for the Rotary Inverted Pendulum (RIP), focusing on a hybrid control strategy that addresses the limitations of conventional methods in nonlinear and complex systems. The proposed controller synergistically combines an Optimize...
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Nature Portfolio
2024-12-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-024-82471-y |
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| author | Thi-Van-Anh Nguyen Quy-Thinh Dao Ngoc-Tam Bui |
| author_facet | Thi-Van-Anh Nguyen Quy-Thinh Dao Ngoc-Tam Bui |
| author_sort | Thi-Van-Anh Nguyen |
| collection | DOAJ |
| description | Abstract This paper presents a novel and comprehensive control framework for the Rotary Inverted Pendulum (RIP), focusing on a hybrid control strategy that addresses the limitations of conventional methods in nonlinear and complex systems. The proposed controller synergistically combines an Optimized Fuzzy Logic Controller (OFLC) with Sliding Mode Control (SMC), leveraging the strengths of both techniques to achieve superior performance. The integration of Particle Swarm Optimization (PSO) into the OFLC significantly enhances its adaptability and precision, while the SMC law provides robust disturbance rejection and system stability. Another key innovation in this framework is the incorporation of an Extended State Observer (ESO), which ensures accurate state estimation and reduces sensor dependency. The most significant physical outcome of this work is the demonstrated improvement in the system’s stability and robustness, even under external disturbances and uncertainties, showcasing the potential of the proposed control framework to achieve precise, stability control in nonlinear systems like the RIP. Extensive simulations validate the effectiveness of the proposed controller, demonstrating significant improvements in stability, disturbance rejection, and control precision, even under disturbance. The results highlight the potential of this approach as a robust solution for complex control systems, offering a significant advancement in the field of nonlinear system control with wide-ranging applications. |
| format | Article |
| id | doaj-art-ff709e7a6e014abda2092f163d6f6273 |
| institution | DOAJ |
| issn | 2045-2322 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-ff709e7a6e014abda2092f163d6f62732025-08-20T02:39:37ZengNature PortfolioScientific Reports2045-23222024-12-0114112210.1038/s41598-024-82471-yOptimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulumThi-Van-Anh Nguyen0Quy-Thinh Dao1Ngoc-Tam Bui2Hanoi University of Science and TechnologyHanoi University of Science and TechnologyInnovative Global Program, Shibaura Institute of TechnologyAbstract This paper presents a novel and comprehensive control framework for the Rotary Inverted Pendulum (RIP), focusing on a hybrid control strategy that addresses the limitations of conventional methods in nonlinear and complex systems. The proposed controller synergistically combines an Optimized Fuzzy Logic Controller (OFLC) with Sliding Mode Control (SMC), leveraging the strengths of both techniques to achieve superior performance. The integration of Particle Swarm Optimization (PSO) into the OFLC significantly enhances its adaptability and precision, while the SMC law provides robust disturbance rejection and system stability. Another key innovation in this framework is the incorporation of an Extended State Observer (ESO), which ensures accurate state estimation and reduces sensor dependency. The most significant physical outcome of this work is the demonstrated improvement in the system’s stability and robustness, even under external disturbances and uncertainties, showcasing the potential of the proposed control framework to achieve precise, stability control in nonlinear systems like the RIP. Extensive simulations validate the effectiveness of the proposed controller, demonstrating significant improvements in stability, disturbance rejection, and control precision, even under disturbance. The results highlight the potential of this approach as a robust solution for complex control systems, offering a significant advancement in the field of nonlinear system control with wide-ranging applications.https://doi.org/10.1038/s41598-024-82471-yFuzzy logic controlModified membership functionParticle swarm optimizationSliding mode controlDisturbance rejectionExtended state observer |
| spellingShingle | Thi-Van-Anh Nguyen Quy-Thinh Dao Ngoc-Tam Bui Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum Scientific Reports Fuzzy logic control Modified membership function Particle swarm optimization Sliding mode control Disturbance rejection Extended state observer |
| title | Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| title_full | Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| title_fullStr | Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| title_full_unstemmed | Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| title_short | Optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| title_sort | optimized fuzzy logic and sliding mode control for stability and disturbance rejection in rotary inverted pendulum |
| topic | Fuzzy logic control Modified membership function Particle swarm optimization Sliding mode control Disturbance rejection Extended state observer |
| url | https://doi.org/10.1038/s41598-024-82471-y |
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