Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System-Reference-Cited by-同舟云学术

Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System

Published:2023-05-20 Issue:3 Volume:27 Page:360-371
ISSN:1883-8014
Container-title:Journal of Advanced Computational Intelligence and Intelligent Informatics
language:en
Short-container-title:JACIII

Author:

Wang Yujue¹,Mao Weining¹,Wang Qing¹^ORCID,Xin Bin¹

Affiliation:

1. School of Automation, Beijing Institute of Technology, 5 South Street, Zhongguancun, Haidian District, Beijing 100081, China

Abstract

The rotating inverted pendulum is a nonlinear, multivariate, strongly coupled unstable system, and studying it can effectively reflect many typical control problems. In this paper, a parameter self-tuning fuzzy controller is proposed to perform the balance control of a single rotating inverted pendulum. Particle swarm optimization is used to adjust its control parameters, and simulation experiments are performed to show that the system can achieve stability with the designed parametric self-tuning fuzzy controller, with control performance better than that of the conventional fuzzy controller. Furthermore, the leader-follower control strategy is used to realize the cooperative control of multiple rotating inverted pendulums. Two QUBE-Servo 2 rotating inverted pendulums are used for a cooperative pendulum swing-up experiment and stabilization experiment, and the effectiveness of the proposed cooperative control strategy is verified.

Funder

National Natural Science Fund of China

National Science Foundation

Publisher

Fuji Technology Press Ltd.

Subject

Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction

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