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An off-line fuzzy backstepping controller for rotary inverted pendulum system

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3 Author(s)
Rahmanian, M. ; Sci. & Res. Branch, Comput. Dept., Islamic Azad Univ., Tehran ; Teshnehlab, M. ; Shoorehdeli, M.A.

In this study a new combination of nonlinear backstepping scheme with off-line fuzzy system is presented for controlling a rotary inverted pendulum system to achieve better performance in nonlinear controller. The inverted pendulum, a popular mechatronic application, exists in many different forms. The common thread among these systems is their goal: to balance a link on end using feedback control. The purpose of this study is to design a stabilizing controller that balances the inverted pendulum in the up-right position.

Published in:
Intelligent and Advanced Systems, 2007. ICIAS 2007. International Conference on

Date of Conference: 25-28 Nov. 2007

Page(s):
109 - 113
E-ISBN :
978-1-4244-1356-0
Print ISBN:
978-1-4244-1355-3
INSPEC Accession Number:
10368447
Conference Location :
Kuala Lumpur
Digital Object Identifier :
10.1109/ICIAS.2007.4658357
Product Type:
Conference Publications

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