TY - GEN
T1 - Linguistic fuzzy logic control of a double inverted pendulum with destabilizing fractional dampers
AU - Dabiri, Arman
AU - Nazari, Morad
AU - Butcher, Eric
N1 - Publisher Copyright: Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - In this paper, a fuzzy controller is designed for a mechanical system with fractional damping without a priori knowledge of the system dynamics. Because of the constitutive equation of the damping, equations of motion of the system consist of fractional order terms. In the process of developing the fuzzy controller, the fuzzy rules are selected based on the human brain functions. The controller is first implemented for the case of a single inverted pendulum with destabilizing fractional dampings mounted on a cart, i.e. a two degree of freedom (DOF) system, where the functions of human brain in balancing a stick on a fingertip are used to train the fuzzy rules. Then, by extending the linguistic rules, the controller is applied to a double inverted pendulum with destabilizing fractional dampings mounted on a cart, i.e. a three DOF system. Since the linguistic rules are based on qualitative motion of the pendulums, the controller is capable bringing the system to rest at the unstable equilibrium point despite the fractional destabilizing damping in the system. Finally, the numerical results of the both examples are discussed.
AB - In this paper, a fuzzy controller is designed for a mechanical system with fractional damping without a priori knowledge of the system dynamics. Because of the constitutive equation of the damping, equations of motion of the system consist of fractional order terms. In the process of developing the fuzzy controller, the fuzzy rules are selected based on the human brain functions. The controller is first implemented for the case of a single inverted pendulum with destabilizing fractional dampings mounted on a cart, i.e. a two degree of freedom (DOF) system, where the functions of human brain in balancing a stick on a fingertip are used to train the fuzzy rules. Then, by extending the linguistic rules, the controller is applied to a double inverted pendulum with destabilizing fractional dampings mounted on a cart, i.e. a three DOF system. Since the linguistic rules are based on qualitative motion of the pendulums, the controller is capable bringing the system to rest at the unstable equilibrium point despite the fractional destabilizing damping in the system. Finally, the numerical results of the both examples are discussed.
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U2 - 10.1115/IMECE201667979
DO - 10.1115/IMECE201667979
M3 - Conference contribution
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - Dynamics, Vibration, and Control
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2016 International Mechanical Engineering Congress and Exposition, IMECE 2016
Y2 - 11 November 2016 through 17 November 2016
ER -