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JACIII Vol.27 No.3 pp. 360-371
doi: 10.20965/jaciii.2023.p0360
(2023)

Research Paper:

Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System

Yujue Wang, Weining Mao, Qing Wang ORCID Icon, and Bin Xin

School of Automation, Beijing Institute of Technology
5 South Street, Zhongguancun, Haidian District, Beijing 100081, China

Corresponding author

Received:
December 9, 2022
Accepted:
January 4, 2023
Published:
May 20, 2023
Keywords:
particle swarm optimization, parameter self-tuning, fuzzy control, cooperative control
Abstract

The rotating inverted pendulum is a nonlinear, multivariate, strongly coupled unstable system, and studying it can effectively reflect many typical control problems. In this paper, a parameter self-tuning fuzzy controller is proposed to perform the balance control of a single rotating inverted pendulum. Particle swarm optimization is used to adjust its control parameters, and simulation experiments are performed to show that the system can achieve stability with the designed parametric self-tuning fuzzy controller, with control performance better than that of the conventional fuzzy controller. Furthermore, the leader-follower control strategy is used to realize the cooperative control of multiple rotating inverted pendulums. Two QUBE-Servo 2 rotating inverted pendulums are used for a cooperative pendulum swing-up experiment and stabilization experiment, and the effectiveness of the proposed cooperative control strategy is verified.

Simplified model of a rotating inverted pendulum

Simplified model of a rotating inverted pendulum

Cite this article as:
Y. Wang, W. Mao, Q. Wang, and B. Xin, “Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System,” J. Adv. Comput. Intell. Intell. Inform., Vol.27 No.3, pp. 360-371, 2023.
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