By Topic

Fuzzy Swing-Up and Fuzzy Sliding-Mode Balance Control for a Planetary-Gear-Type Inverted Pendulum

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yeong-Hwa Chang ; Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan ; Chia-Wen Chang ; Jin-Shiuh Taur ; Chin-Wang Tao

An energy-compensated fuzzy swing-up and balance control is investigated for the planetary-gear-type inverted pendulum (PIP) in this paper. The proposed control scheme consists of a fuzzy swing-up controller (FSC), a fuzzy sliding balance controller (FSBC), and a fuzzy compensation mechanism. The PIP with the designed FSC can upswing the pendulum quickly and have the controlled system be stable in the sense of approaching the desired system energy. The pendulum of PIP system can be stably balanced at the upright position with the presented FSBC, where the chattering effect is significantly eliminated. With the proposed compensation mechanism, the overaccumulated upswing energy can be effectively compensated such that the influence of disturbance can be overcome. The simulation results are included to indicate the effectiveness of the provided controller. Moreover, based on an embedded control kernel, an experimental setup for the PIP control system is built up. It shows that the real-time experiment results empirically support the promising performance of desire.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 9 )