Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/44442
標題: Fuzzy Swing-Up and Fuzzy Sliding-Mode Balance Control for a Planetary-Gear-Type Inverted Pendulum
作者: Chang, Y.H.
陶金旭
Chang, C.W.
Taur, J.S.
Tao, C.W.
關鍵字: Energy-compensated control
fuzzy control
sliding-mode control
variable-structure control
nonlinear-systems
stabilization
design
drive
期刊/報告no:: Ieee Transactions on Industrial Electronics, Volume 56, Issue 9, Page(s) 3751-3761.
摘要: An energy-compensated fuzzy swing-up and balance control is investigated for the planetary-gear-type inverted pendulum (PIP) in this paper. The proposed control scheme consists of a fuzzy swing-up controller (FSC), a fuzzy sliding balance controller (FSBC), and a fuzzy compensation mechanism. The PIP with the designed FSC can upswing the pendulum quickly and have the controlled system be stable in the sense of approaching the desired system energy. The pendulum of PIP system can be stably balanced at the upright position with the presented FSBC, where the chattering effect is significantly eliminated. With the proposed compensation mechanism, the overaccumulated upswing energy can be effectively compensated such that the influence of disturbance can be overcome. The simulation results are included to indicate the effectiveness of the provided controller. Moreover, based on an embedded control kernel, an experimental setup for the PIP control system is built up. It shows that the real-time experiment results empirically support the promising performance of desire.
URI: http://hdl.handle.net/11455/44442
ISSN: 0278-0046
文章連結: http://dx.doi.org/10.1109/tie.2009.2025292
Appears in Collections:電機工程學系所

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