Improved fuzzy feedback linearization and Sinswat-transformation control of inverted pendulum

• Autorzy: Chien T. L. , Chen C. C. , Chen Y. C. , Wu S. L.
• Języki publikacji: EN

Abstrakty

EN

This paper studies the output tracking and almost disturbance decoupling problem of nonlinear control systems with uncertainties via fuzzy logic control and feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system enjoys for any initial condition and bounded tracking signal the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by increasing some adjustable parameters. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. One example, which cannot be solved by the approach from the first paper (Marino et al., 1989) on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by virtue of our approach. In order to demonstrate the practical applicability, the paper takes up the study of an inverted pendulum control system.

Słowa kluczowe

EN

fuzzy logic control; almost disturbance decoupling; feedback linearization approach; composite Lyapunov approach; inverted pendulum control system

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2010
• Tom: Vol. 39, no 4
• Strony: 1069--1093
• Opis fizyczny: Bibliogr. 38 poz., rys., wykr.

Twórcy

autor

Chien T. L.

autor

Chen C. C.

autor

Chen Y. C.

autor

Wu S. L.

• Department of Electronic Engineering, Wufeng Institute of Technology, 117, Sec., Chian-Kuo Road, Ming-Hsiung, Chiayi 621, Taiwan 640, R.O.C.

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