Design And Implementation Of Feedback Linearization Based Adaptive Stabilizing Controller Coupled With Fuzzy Logic Swing-up For Pendulum On A Cart

This thesis address an adaptive stabilizing controller for inverted pendulum on arncart based on feedback linearization coupled with an adaptive fuzzy logic basedrnswing up controller. First feedback linearizing control signal is derived by decomposingrnthe system into cart subsystem and pendulum subsystem. Then adaptiverninverse control technique is applied to each feedback linearizing control signals. Anrnadaptive inverse control method is used for compensation of unknown parametersrnof an inverted pendulum on a cart, while feedback linearization is used to cancelrnnon-linearity in the system. The pendulum is driven from it's pendant position torninverted position using an adaptive fuzzy logic based swing up controller. When thernpendulum reaches near it's inverted position, the stabilizing controller takes overrnthe swing up controller. The MATLAB/SIMULINK simulation shows that the proposedrncontrollers adapt to unknown mass of a cart between 0:1kg - 4kg and mass ofrna pendulum between 0:01kg - 4kg. The performance of the stabilizing controller onrnhardware experimentation under unknown mass of a cart and mass of a pendulumrnshows that the proposed controller is a solution to inverted pendulum stabilizationrnproblem.

Get Full Work

Report copyright infringement or plagiarism