Performance Comparison of LQR and ANFIS Controller for Stabilizing Double Inverted Pendulum System

被引：0
|
作者：
Mohan, Vijay [1 ]
Singh, Narinder [1 ]
机构：
[1] Dr BR Ambedkar Natl Inst Technol, Dept Instrumentat & Control Engn, Jalandhar, Punjab, India
来源：
2013 IEEE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING, COMPUTING AND CONTROL (ISPCC) | 2013年
关键词：
Double Inverted Pendulum (DIP); Linear Quadratic Regulator (LQR); Adaptive-Network-Based Fuzzy Inference System (ANFIS);
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.
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收藏
页数：6
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