Conference proceeding
An Intelligent Control of an Inverted Pendulum Based on an Adaptive Interval Type-2 Fuzzy Inference System
2019 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Vol.2019, pp.1-6
IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) (New Orleans, LA, USA, 23/06/2019 - 26/06/2019)
06/2019
Metrics
13 Record Views
Abstract
Interval Type-2 fuzzy controllers have become increasingly popular, and have been applied in many engineering applications over the past few decades. In this paper, a knowledge-based interval Type-2 fuzzy controller is proposed to control an inverted pendulum on a cart system in the presence of disturbance, random noise and parameter variations. The proposed controller utilizes the Takagi-Sugeno fuzzy inference system, supported by the Nie-Tan (NT) type-reduction method for the input-output mapping. The adaptation laws for the Type-2 fuzzy consequent parameters are derived based on the sliding mode control (SMC) theory. A comparison study of the proposed interval Type-2 fuzzy controller with a conventional PID controller is investigated in the presence of disturbance, external noise and parameter variations. Simulation results show the efficacy of the proposed controller with respect to a conventional PID controller as indicated by lower RMSE values.
Details
- Title
- An Intelligent Control of an Inverted Pendulum Based on an Adaptive Interval Type-2 Fuzzy Inference System
- Creators
- Ayad Al-Mahturi - University of New South WalesFendy Santoso - University of New South WalesMatthew A. Garratt - University of New South WalesSreenatha G. Anavatti - University of New South Wales
- Publication Details
- 2019 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Vol.2019, pp.1-6
- Conference
- IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) (New Orleans, LA, USA, 23/06/2019 - 26/06/2019)
- Publisher
- IEEE
- Identifiers
- 991013092526102368
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Conference proceeding