Comparison of Predictive and Fuzzy Control of Inverted Pendulum

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F09%3A63507895" target="_blank" >RIV/70883521:28140/09:63507895 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Comparison of Predictive and Fuzzy Control of Inverted Pendulum

Popis výsledku v původním jazyce

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is created on the basis of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments. Contrary, the system was controlled by fuzzy controller which does to require mathematical model of the pendulum. Advantages and disadvan

Název v anglickém jazyce

Comparison of Predictive and Fuzzy Control of Inverted Pendulum

Popis výsledku anglicky

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is created on the basis of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments. Contrary, the system was controlled by fuzzy controller which does to require mathematical model of the pendulum. Advantages and disadvan

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

—

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2009

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceeding of the 28th IASTED International Conference on Modelling, Identification and Control

ISBN

978-0-88986-781-9

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

ACTA Press

Místo vydání

Calgary

Místo konání akce

Innsbruck

Datum konání akce

18. 2. 2009

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—