M. F., Masrom and N. M, Ghani and N. F., Jamin and N. A. A, Razali (2018) Control of Triple Link Inverted Pendulum on Two-Wheeled System Using IT2FLC. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2018) , 20 October 2018 , Shah Alam, Malaysia. pp. 29-34.. ISBN 978-1-5386-5654-9
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Abstract
A triple link inverted pendulum is dynamic and highly unstable system. In this paper, an intense comparison is demonstrated in order to stabilize triple link inverted pendulum on two wheels system based on fuzzy logic controls. The model of triple link inverted pendulum on wheels is developed using SimWise 4D CAD software environment and the model is integrated with Matlab/Simulink for control purpose. Each link is controlled by fuzzy controller to maintain in the upright position on two wheel system. The performance of each links is observed in terms of peak undershoot, peak overshoot, settling angle, and steady state angle. The result shows that Interval Type-2 fuzzy logic control (IT2FLC) is superior and give better performance compared to Type-1 fuzzy logic control (T1FLC).
| Item Type: | Conference or Workshop Item (Lecture) |
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| Uncontrolled Keywords: | Triple link inverted pendulum; Type-1 Fuzzy logic control; Interval Type-2 Fuzzy logic control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 17 May 2019 04:28 |
| Last Modified: | 17 May 2019 04:28 |
| URI: | http://umpir.ump.edu.my/id/eprint/24985 |
| Download Statistic: | View Download Statistics |
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