title: |
Intelligent Control of an Inverted Pendulum by Self-Tunable Fuzzy PI-type Controller |
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publication: |
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part of series: |
Advances in Intelligent Systems Research | |
| pages: | 728 - 733 | |
DOI: |
To be assigned soon (how to use a DOI) | |
author(s): |
Djamel Eddine, Hichem MAAREF |
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publication date: |
July 2011 |
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keywords: |
Self-tuning fuzzy inference system, Adaptive neuro-fuzzy control, Inverted pendulum. |
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abstract: |
line Self-tunable PI-type fuzzy inference system with
application of control approach to nonlinear system.
In this paper, we describe a neuro-fuzzy controller
as a STFIS (Self Tuning Fuzzy Inference System)
optimized online using the rules of Takagi-Sugeno
type, and a back propagation learning algorithm
which is used to minimize a cost function that is
made up of a quadratic error term and a weight
decay term that prevents an excessive growth of
parameters. Then STFIS PI-type controller is
synthesized. The application is done on a system of
inverted pendulum to follow a predefined reference
trajectory in the presences of disturbance. Some
simulations with robustness tests are performed,
which demonstrates the feasibility of the proposed
control strategy. Results of simulations containing
tests of robustness are presented and realized in
MATLAB environment. |
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copyright: |
©
Atlantis Press. This article is distributed under the
terms of the Creative Commons Attribution License, which permits
non-commercial use, distribution and reproduction in any medium,
provided the original work is properly cited. |
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full text: |