Takagi-Sugeno Fuzzy Dynamic Regulator for a Pendulum on a Cart System

被引：0
|
作者：
De la Torre, Wilfredo [1 ]
Jurado, Francisco [1 ]
Llama, Miguel A. [1 ]
Garcia Hernandez, Ramon [2 ]
机构：
[1] Inst Tecnol Laguna, Torreon, Coahuila De Zar, Spain
[2] Univ Autonoma Carmen, Campeche, Mexico
来源：
2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2013年
关键词：
Linear matrix inequalities; parallel distributed compensation; pendulum on a cart system; Takagi-Sugeno fuzzy control; Takagi-Sugeno fuzzy observer; STABILITY; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, from a nonlinear model for a pendulum on a cart system, which considers viscous friction, a two rules Takagi-Sugeno (T-S) fuzzy model is proposed using local approximation in fuzzy partition spaces approach. A Parallel Distributed Compensator (PDC), where feedback gains for the local linear controllers are obtained via Linear Matrix Inequalities (LMI) technique, guaranteeing global stability in the closed-loop system is also proposed. Moreover, a T-S fuzzy observer, using the separation principle from linear systems theory, is designed in order to estimate both cart and pendulum velocities. The so-called swing-up technique is used to swing the pendulum up from its pendant position to upright position. Numerical simulation and real-time experiments validate the effectiveness of our control scheme.
引用
收藏
页码：52 / 57
页数：6
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