| Summary: | 碩士 === 國立宜蘭大學 === 電機工程學系碩士班 === 95 === The nonlinear inverted-pendulum system is an unstable and non-minimum phase system. It is existence very sensitive to the disturbances. It is often used to be the controlled target to test the qualities of the controllers like PID, Optimal LQR, Neural network, adaptive, and fuzzy logic controller, etc.
In this paper, a new hybrid fuzzy controller is presented for a nonlinear inverted pendulum system. This controller design can be combined with two it contains two kinds of controllers (Swing-up and Balancing position). In the swing-up part, we will propose a fuzzy swing-up controller to control the swing-up part of the nonlinear inverted pendulum system. With the basic experience, it hopes to swing the pendulum from under vertical position to upward position by a proposed fuzzy swing-up controller. In the balancing position part, the first will present pole placement balancing and optimal LQR balancing controllers for the balancing position part of the nonlinear inverted pendulum system. It will hope the pendulum can from upward position to upward vertical position and be stabilize, and brings the cart to the command position. This system has a saturated range for the control force. It will reduce the performance of balancing position for the system. Based on this factor, this research proposes TSK Model approach to design pole placement balancing and optimal LQR balancing controllers for the balancing controller of the nonlinear inverted pendulum system. It can hope to increase performance for the balancing position of the system. Finally, the simulation results are included to indicate the great performance and robust of the proposed a new hybrid fuzzy controller for the nonlinear inverted pendulum system.
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