Fuzzy swing-up and fuzzy sliding-mode balance control for a planetary-gear-type inverted pendulum / Chang, Yeong-Hwa in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3751-3761 Titre : Fuzzy swing-up and fuzzy sliding-mode balance control for a planetary-gear-type inverted pendulum Type de document : texte imprimé Auteurs : Chang, Yeong-Hwa, Auteur ; Chang, Chia-Wen, Auteur ; Taur , Jin-Shiuh, Auteur Article en page(s) : pp. 3751-3761 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Fuzzy swing-up sliding-mode balance control Planetary-gear Inverted pendulum Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : 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. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5109665 [...] [article] Fuzzy swing-up and fuzzy sliding-mode balance control for a planetary-gear-type inverted pendulum [texte imprimé] / Chang, Yeong-Hwa, Auteur ; Chang, Chia-Wen, Auteur ; Taur , Jin-Shiuh, Auteur . - pp. 3751-3761. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3751-3761 Mots-clés : Fuzzy swing-up sliding-mode balance control Planetary-gear Inverted pendulum Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : 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. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=5109665 [...]

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