WSEAS Transactions on Systems


Print ISSN: 1109-2777
E-ISSN: 2224-2678

Volume 18, 2019

Notice: As of 2014 and for the forthcoming years, the publication frequency/periodicity of WSEAS Journals is adapted to the 'continuously updated' model. What this means is that instead of being separated into issues, new papers will be added on a continuous basis, allowing a more regular flow and shorter publication times. The papers will appear in reverse order, therefore the most recent one will be on top.

Volume 18, 2019


Optimal Control Based on Fuzzy Estimation of Takagi-Sugeno Model for the Furuta Pendulum: Experimental Results

AUTHORS: Marco Herrera, Mayra Sarzosa, Israel Paredes, Oscar Camacho

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ABSTRACT: The aim of this paper is an experimental study of a discrete-time fuzzy optimal controller based on blending ofTakagi-Sugeno (T-S) fuzzy modeling and the linear Quadratic Regulator (LQR) for an Underactuated Mechanical System. The proposed scheme combines the optimality of the LQR in terms of a desired behavior dynamic of the system with admissible control actions and, the approximation capability of nonlinear functions of T-S fuzzy model. From an input-output data a T-S fuzzy model based on an improved approach of fuzzy identification is estimated and, an extended optimal state feedback control is used in order to control stabilization and to guarantee reference tracking of Furuta's Pendulum. For the purpose of validating the controller scheme proposed experimental tests on QNET Rotary Inverted Pendulum Trainer for NI ELVIS are carried out. The performance of designed controller is compared against the classical LQR using an Integral Square Error (ISE) index.

KEYWORDS: Takagi-Sugeno Fuzzy Model, Nonlinear Control, Pendulum of Furuta, Underactuated Mechanical System, LQR

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WSEAS Transactions on Systems, ISSN / E-ISSN: 1109-2777 / 2224-2678, Volume 18, 2019, Art. #2, pp. 12-24


Copyright Β© 2018 Author(s) retain the copyright of this article. This article is published under the terms of the Creative Commons Attribution License 4.0

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