The modelling and control of flywheel inverted pendulum system

Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dy...

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Published in2010 3rd International Conference on Computer Science and Information Technology Vol. 6; pp. 423 - 427
Main Authors Xiao-gang Ruan, Yu-feng Wang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2010
Subjects
dynamic model
Eigenvalues and eigenfunctions
flywheel inverted pendulum system
Flywheels
fuzzy control
MATLAB
Niobium
Robots
Robustness
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Abstract Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated and did system performance analysis. Then, as the linear model, the fuzzy controller is designed based on packet control. The method can decrease the number of fuzzy rules and avoid the rule's explosion. The simulation results show that the fuzzy controller makes the system achieve stabilization and balance control.
AbstractList Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated and did system performance analysis. Then, as the linear model, the fuzzy controller is designed based on packet control. The method can decrease the number of fuzzy rules and avoid the rule's explosion. The simulation results show that the fuzzy controller makes the system achieve stabilization and balance control.
Author Xiao-gang Ruan
Yu-feng Wang
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  surname: Yu-feng Wang
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  email: Wangyufeng198411@emails.bjut.edu.cn
  organization: Artificial Intell. & Robot Inst., Beijing Univ. of Technol., Beijing, China
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Snippet Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to...
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StartPage 423
SubjectTerms dynamic model
Eigenvalues and eigenfunctions
flywheel inverted pendulum system
Flywheels
fuzzy control
MATLAB
Niobium
Robots
Robustness
Title The modelling and control of flywheel inverted pendulum system
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