Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization

Muhammad Firdaus, Masrom and Normaniha, Abd Ghani and Nur Fadzlina, Jamin and Nur Atiqah Adlina, Razali (2019) Motion control of triple links inverted pendulum on two-wheeled system using interval type-2 fuzzy logic control base on particle swarm optimization. In: IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2019), 29 November - 1 December 2019 , Batu Feringghi, Penang, Malaysia. pp. 1-6.. (Unpublished)

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Abstract

This paper presents a motion control of a triple link inverted pendulum on two-wheeled system, through Interval Type-2 Fuzzy logic Control based Particle Swarm Optimization. Despite this model’s heightened non-linearity and complexity for being a triple link system, it has enabled additional degree of freedom for having a two-wheeled mechanism. The model was developed in SimWise 4D to maintain its complex features, while allowing observations to the system’s movements. The developed system was then integrated with Interval Type-2 Fuzzy Logic Control, as designed in Matlab/Simulink. Specifically, Particle Swarm Optimization was applied to obtain the optimal values for input/output gain and parameters of the Interval Type-2 Fuzzy Logic Control, towards enhancing the system’s performance. Results have shown that the proposed controller was able to perform forward and backward motions control to the system in an upright position. The system is able to perform motion task with recorded system velocity of 0.04m/s and 0.02m/s for forward and backward motions, respectively. The controller was then evaluated based on its velocity and angular position or in stable manner. This system is envisaged to be very vital in the development of mobile robots with extended functionality.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Triple link inverted pendulum; Interval type-2 Fuzzy Logic Control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Institute of Postgraduate Studies
Depositing User: Noorul Farina Arifin
Date Deposited: 10 Dec 2019 08:28
Last Modified: 10 Dec 2019 08:30
URI: http://umpir.ump.edu.my/id/eprint/26800
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