文章基本信息

标题：Study of Inverted Pendulum Robot Using Fuzzy Servo Control Method
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作者：Dazhong Wang ; Shujing Wu ; Liqiang Zhang 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
DOI：10.5772/50982
语种：English
出版社：SAGE Publications
摘要：The inverted pendulum robot is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Inverted pendulum robot is suitable to use for investigation and verification of various control methods for dynamic systems. Maintaining an equilibrium position of the pendulum pointing up is a challenge as this equilibrium position is unstable. As the inverted pendulum robot system is nonlinear it is well-suited to be controlled by fuzzy logic. In this paper, Lagrange method has been applied to develop the mathematical model of the system. The objective of the simulation to be shown using the fuzzy control method can stabilize the nonlinear system of inverted pendulum robot.
关键词：Inverted Pendulum Robot; Disturbances; Servo Control; Fuzzy Control