Hybrid Fuzzy Logic and Adaptive LQR Controller for Swing-up, Positioning and Stabilization of Inverted Pendulum

Authors

  • R. Urniezius Kaunas University of Technology
  • E. Geguzis Kaunas University of Technology

DOI:

https://doi.org/10.5755/j01.eee.20.3.6675

Keywords:

Fuzzy control, control engineering

Abstract

This paper presents the design and practical implementation of a hybrid fuzzy logic and adaptive linear–quadratic controller (LQR) for a real inverted short pendulum system. We present an extended swing-up approach using fuzzy controller and then discuss an adaptive LQR realization which takes into account nonlinearities while passing the transient process to the upward position of the short pendulum which is mounted on a cart. So long as the cart’s configuration space is restricted by boundary conditions the controller also solves the positioning task, during which the cart returns to the centre of cart’s configuration space. We also discuss the practical realization of such controller logic, embedded into 32-bit microcontroller with the algorithm reaction of 1 ms.

DOI: http://dx.doi.org/10.5755/j01.eee.20.3.6675

Downloads

Published

2014-03-12

How to Cite

Urniezius, R., & Geguzis, E. (2014). Hybrid Fuzzy Logic and Adaptive LQR Controller for Swing-up, Positioning and Stabilization of Inverted Pendulum. Elektronika Ir Elektrotechnika, 20(3), 11-15. https://doi.org/10.5755/j01.eee.20.3.6675

Issue

Vol. 20 No. 3 (2014)

Section

AUTOMATION, ROBOTICS

License

The copyright for the paper in this journal is retained by the author(s) with the first publication right granted to the journal. The authors agree to the Creative Commons Attribution 4.0 (CC BY 4.0) agreement under which the paper in the Journal is licensed.

By virtue of their appearance in this open access journal, papers are free to use with proper attribution in educational and other non-commercial settings with an acknowledgement of the initial publication in the journal.