Balancing and swinging-up control for cart-pendulum-seesaw system by decomposed fuzzy coordination control

Author:

Lin Jonqlan1,Ding You Sheng1,Chang Julian1

Affiliation:

1. Department of Mechanical Engineering, Chien Hsin University of Science and Technology, Taiwan, Republic of China

Abstract

Using a combination of the cart-seesaw and the inverted pendulum system, this paper presents a novel laboratory apparatus called the cart-pendulum-seesaw (CPS) system. The proposed pneumatic CPS is a classic example of a super articulated mechanical system. The resulting system has two inputs: a force applied to the cart and another force applied to the loading cart which tries to balance the seesaw test-bed. With two inputs and four available for the measurement outputs, the unstable multi-input-multi-output system offers an interesting control challenge. This study breaks down the system into several tasks, one for pendulum swinging up and the other for seesaw balancing. The pendulum is first swung up; then, balancing the pendulum at the upright position with a fuzzy controller, the seesaw is balanced by another fuzzy controller. This study incorporates a fuzzy coordinator into the seesaw system to take control action in extreme situations. The experimental device is used to evaluate the efficiency of the proposed methodology. Unlike other model-based methods, the proposed fuzzy control methodology does not need an accurate measurement of all state parameters; moreover, it is robust for parameter changes and other disturbances in the system.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Mechanics of Materials,Aerospace Engineering,Automotive Engineering,General Materials Science

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Underactuated robotics: A review;International Journal of Advanced Robotic Systems;2019-07

2. A survey on the application of fuzzy systems for underactuated systems;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2018-08-22

3. Stabilization and Equilibrium Control for Electrically Cart–Seesaw Systems by Neuro-fuzzy Approach;Journal of Vibration Engineering & Technologies;2018-02

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3