FEEDBACK LINEARIZATION BASED ADAPTIVE STABILIZINGCONTROLLER DESIGN COUPLED WITH FUZZY LOGICSWING-UP FOR PENDULUM ON A CART

摘要

This paper address an adaptive stabilizing controller for inverted pendulum on a cart based on feedbacklinearization coupled with an adaptive fuzzy logic based swing up controller. First feedback linearizing controlsignal is derived by decomposing the system into cart subsystem and pendulum subsystem. Then adaptive inversecontrol technique will be applied to each feedback linearizing control signals. An adaptive inverse control methodis used for compensation of unknown parameters of an inverted pendulum on a cart, while feedback linearizationis used to cancel non-linearity in the system. The pendulum will be driven from it’s pendant position to invertedposition using an adaptive fuzzy logic based swing up controller. When the pendulum reaches near it’s invertedposition, the stabilizing controller takes over the swing up controller. The MATLAB/SIMULINK simulation showsthat the proposed controllers adapt to unknown mass of a cart between 0.1kg - 4kg and mass of a pendulumbetween 0.01kg - 4kg.