Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach

Inverted pendulum (IP) is an underactuated systems, since the input of the system is the force applied to the cart and the outputs are the cart position and pendulum angle (SIMO) system, which makes this system is highly nonlinear and unstable. Inverted pendulum considered as the one the most famous...

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Main Author: Attia Elhabib, Mohamed Osman
Format: Thesis
Language:English
Published: 2021
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Online Access:http://eprints.utm.my/id/eprint/98387/1/MohamedOsmanAttiaElhabibMSEE2021.pdf.pdf
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spelling my-utm-ep.983872022-12-12T01:06:50Z Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach 2021 Attia Elhabib, Mohamed Osman TK Electrical engineering. Electronics Nuclear engineering Inverted pendulum (IP) is an underactuated systems, since the input of the system is the force applied to the cart and the outputs are the cart position and pendulum angle (SIMO) system, which makes this system is highly nonlinear and unstable. Inverted pendulum considered as the one the most famous classical systems in the field of control and mechatronics. This project focuses on the design of a fuzzy controller to stabilize an inverted pendulum in a vertical position. A continuous correction mechanism is required to move the cart in a certain way in order to balance the pendulum to prevent it from falling down. This project started by a derivation of the mathematical model of the single linked inverted pendulum system by using Euler-Lagrange method. After that, a fuzzy logic controller (FLC) based Sugeno inference system was designed and genetic algorithm was used to tune the parameters of the controller using MATLAB software. Both controllers were tested using real time inverted pendulum. Experimental results showed that optimized FLC was much better than Sugeno FLC in terms of settling time, overshoot and steady state error. 2021 Thesis http://eprints.utm.my/id/eprint/98387/ http://eprints.utm.my/id/eprint/98387/1/MohamedOsmanAttiaElhabibMSEE2021.pdf.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:144573 masters Universiti Teknologi Malaysia Faculty of Engineering - School of Electrical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
language English
topic TK Electrical engineering
Electronics Nuclear engineering
spellingShingle TK Electrical engineering
Electronics Nuclear engineering
Attia Elhabib, Mohamed Osman
Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
description Inverted pendulum (IP) is an underactuated systems, since the input of the system is the force applied to the cart and the outputs are the cart position and pendulum angle (SIMO) system, which makes this system is highly nonlinear and unstable. Inverted pendulum considered as the one the most famous classical systems in the field of control and mechatronics. This project focuses on the design of a fuzzy controller to stabilize an inverted pendulum in a vertical position. A continuous correction mechanism is required to move the cart in a certain way in order to balance the pendulum to prevent it from falling down. This project started by a derivation of the mathematical model of the single linked inverted pendulum system by using Euler-Lagrange method. After that, a fuzzy logic controller (FLC) based Sugeno inference system was designed and genetic algorithm was used to tune the parameters of the controller using MATLAB software. Both controllers were tested using real time inverted pendulum. Experimental results showed that optimized FLC was much better than Sugeno FLC in terms of settling time, overshoot and steady state error.
format Thesis
qualification_level Master's degree
author Attia Elhabib, Mohamed Osman
author_facet Attia Elhabib, Mohamed Osman
author_sort Attia Elhabib, Mohamed Osman
title Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
title_short Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
title_full Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
title_fullStr Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
title_full_unstemmed Modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
title_sort modeling and controller design of a single-linked inverted pendulum using optimized fuzzy logic controller approach
granting_institution Universiti Teknologi Malaysia
granting_department Faculty of Engineering - School of Electrical Engineering
publishDate 2021
url http://eprints.utm.my/id/eprint/98387/1/MohamedOsmanAttiaElhabibMSEE2021.pdf.pdf
_version_ 1776100584377548800