Controlling a Furuta Pendulum by using Fuzzy Logic

Mikkel Brydegaard; Miguel Strefezza; Ernesto Granado

doi:10.14864/softscis.2006.0.40.0

SCIS & ISIS 2006

Session ID : TH-C2-3

DOI https://doi.org/10.14864/softscis.2006.0.40.0

Conference information

Host: Japan SOciety for Fuzzy Theory and intelligent informatics

Co-host: The Korea Fuzzy Logic and Intelligent Systems Society, IEEE Computational Intelligence Society, The International Fuzzy Systems Association, 21th Century COE Program "Creation of Agent-Based Social Systems Sciences"

TH-C2 Control (1)

Controlling a Furuta Pendulum by using Fuzzy Logic

Mikkel Brydegaard, *Miguel Strefezza, Ernesto Granado

Author information

Keywords: Furuta Pendulum, Fuzzy logic, Lyapunov 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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