ファジィ構造スイッチによる倒立振子制御

ブリデガード ミケル; ストレフェザ ミゲル; グラナド エルネスト

doi:10.14864/fss.22.0.231.0

22nd Fuzzy System Symposium

Session ID : 8E3-1

DOI https://doi.org/10.14864/fss.22.0.231.0

Conference information

Host: Japan Society for Fuzzy Theory and Intelligent Informatics

Controlling a Furuta Pendulum by using Fuzzy Switch Structure

Mikkel Brydegaard, *Miguel Strefezza, Ernesto Granado

Author information

Keywords: Furuta Pendulum, Fuzzy logic, Lyapunov control, State feedback, Variable Structure Control

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

In this paper it is presented a mixed control approach for stabilising a Furuta pendulum in upright position. The full Monty controller consists partly of a state feedback controller and partly of a Lyapunov controller. A fuzzy controller takes the decision to vary between of the structures.

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