Hardware-in-the-loop simulation of interval type-2 fuzzy PD controller for uncertain nonlinear system using low cost microcontroller

被引:23
|
作者
El-Nagar, Ahmad M. [1 ]
El-Bardini, Mohammad [1 ]
机构
[1] Menoufia Univ, Fac Elect Engn, Dept Ind Elect & Control Engn, Menoufia 32852, Egypt
关键词
Hardware-in-the-loop simulation; Interval type-2 fuzzy systems; Interval type-2 fuzzy PD controller; Inverted pendulum system; LOGIC SYSTEMS; DESIGN; STABILIZATION; SETS;
D O I
10.1016/j.apm.2015.09.005
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Hardware-in-the-loop simulation is increasingly being required for the design, implementation and testing of control systems, where some of the control loop components are real hardware and some are simulated. Usually, the real system is software and the control system is hardware. In this study, hardware-in-the-loop simulation is used to test the performance of the interval type-2 fuzzy proportional-derivative (IT2F-PD) controller. The IT2F-PD controller is implemented using a low cost microcontroller for controlling the uncertain nonlinear inverted pendulum. The IT2F-PD controller is able to handle the system uncertainties better than their type-1 (T1) counterparts. The results of the IT2F-PD controller are compared with the TIF-PD controller. The experimental results show that the IT2F-PD controller is made significantly improved the performance over a wide range of the structural uncertainties and the effect of the external disturbances. (C) 2015 Elsevier Inc. All rights reserved.
引用
收藏
页码:2346 / 2355
页数:10
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