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
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/98387/1/MohamedOsmanAttiaElhabibMSEE2021.pdf.pdf
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id	my-utm-ep.98387
record_format	uketd_dc
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

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

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