Swing-up and Stabilization Control of Rotary Inverted Pendulum by using LQR-based ANFIS

Authors

  • Minh Duc Tran
  • Minh Tai Vo
  • Quang Minh Pham
  • Duc Trung Nguyen
  • Huu Thong Vo
  • Nho The Tran
  • Dinh Dat Le
  • Le Vuong Nguyen
  • An Khang Tran
  • Cao Hoang Phan

DOI:

https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v6i1.96

Keywords:

ANFIS; balancing control; LQR method;rotary inverted pendulum; swing-up

Abstract

RIP is a SIMO nonlinear system which has simple mechanical structure but high
nonlinear level. This is a popular model in laboratories of control automation. In this paper,
we present an ANFIS network which is developed from a former LQR controller in
stabilizing system at equilibrium point– upright position. In addition, an energy swing-up
controller is designed and tested in this paper. Simulation and experimental results in this
paper prove the abilities of these methods in balancing RIP model.

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Published

2023-04-11

How to Cite

Tran, M. Đức, Vo, M. T., Pham, Q. M., Nguyen, Đức T., Vo, H. T., Tran , N. T., Le , Đình Đạt, Nguyen, L. V., Tran, A. K., & Phan, C. H. (2023). Swing-up and Stabilization Control of Rotary Inverted Pendulum by using LQR-based ANFIS. Tạp Chí Khoa học Và kỹ thuật trường Đại học Bình Dương, 6(1). https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v6i1.96

Issue

Vol. 6 No. 1 (2023): BINH DUONG UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY

Section

TECHNICAL SCIENCES - TECHNOLOGICAL SCIENCES