Abstract
This paper presents investigations into the development of an interval type-2 fuzzy logic control (IT2FLC) mechanism integrated with particle swarm optimization and spiral dynamic algorithm. The particle swarm optimization and spiral dynamic algorithm are used for enhanced performance of the IT2FLC by finding optimised values for input and output controller gains and parameter values of IT2FLC membership function as comparison purpose in order to identify better solution for the system. A new model of triple-link inverted pendulum on two-wheels system, developed within SimWise 4D software environment and integrated with Matlab/Simulink for control purpose. Several tests comprising system stabilization, disturbance rejection and convergence accuracy of the algorithms are carried out to demonstrate the robustness of the control approach. It is shown that the particle swarm optimization-based control mechanism performs better than the spiral dynamic algorithm-based control in terms of system stability, disturbance rejection and reduce noise. Moreover, the particle swarm optimization-based IT2FLC shows better performance in comparison to previous research. It is envisaged that this system and control algorithm can be very useful for the development of a mobile robot with extended functionality.
Highlights
Self-balancing inverted pendulum systems have attracted a lot of interest within the research community
There are several works done on comparing type-1 fuzzy logic control (T1FLC) and interval type-2 fuzzy logic control (IT2FLC) and the results show that IT2FLC is far better than T1FLC.[4]
The results of this study are presented and discussed in detail with reference to the objective of this study, which is to assess the effectiveness of implementing IT2FLC based on particle swarm optimization (PSO) on triple-link inverted pendulum on two-wheels system
Summary
Self-balancing inverted pendulum systems have attracted a lot of interest within the research community. The main focus of this paper is to design the robust controller to reduce vibration, cater uncertainties and disturbance rejection for a triple-link inverted pendulum on two-wheels system. An optimization method using PSO and SDA is proposed in this work and the system performance is assessed in terms of stability and disturbance rejection.
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