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Yıl 2023, Cilt: 13 Sayı: 2, 1165 - 1175, 01.06.2023

Muhammet Aydın Oğuz Yakut

https://doi.org/10.21597/jist.1168611

Öz

Kaynakça

  • Altinoz, OT, Yilmaz, AE, Weber, GW, 2010. Chaos Particle Swarm Optimized Pid Controller for the Inverted Pendulum System. Second International Conference on Engineering Optimization, 6-9 September 2010, Lisbon, Portugal.
  • Awtar, S, King, N, Allen, T, Bang, I, Hagan, M, Skidmore, D, Craig, K, 2002. Inverted Pendulum Systems: Rotary and Arm-Driven-a Mechatronic System Design Case Study. Mechatronics, 12 (2): 357-370.
  • Aydin, M, Yakut, O, Tutumlu, H, 2019. Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System. Journal of Engineering and Technology, 3 (1): 32-41.
  • Aydin, M, Yakut, O, 2022. Application of Fuzzy Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum. Journal of Advanced Research in Natural and Applied Sciences, 8(3).
  • Bogdanov, A, 2004. Optimal Control of a Double Inverted Pendulum on a Cart. Health and Science University Technical Report. CSE-04-006, Oregon Graduate Institute School of Science and Engineering, Oregon, United States of America.
  • Bugeja, M, 2003. Non-linear Swing-up and Stabilizing Control of an Inverted Pendulum System. Computer as a Tool, 2: 437-441.
  • Chawla, I, Singla, A, 2021. Real-time Stabilization Control of a Rotary Inverted Pendulum Using Lqr-based Sliding Mode Controller. Arabian Journal for Science and Engineering, 46 (3): 2589-2596. Cui, J, 2019. Numerical Design Method for Nonlinear Sliding Mode Control of Inverted Pendulum. 38th Chinese Control Conference, 27-29 July 2019, Guangzhou, China. Edwards, C, Spurgeon, S, 1998. Sliding Mode Control: Theory and Applications. Chemical Rubber Company Press.
  • Hassanzadeh, I, Mobayen, S, 2008. Pso-based Controller Design for Rotary Inverted Pendulum System. Journal of Applied Sciences, 8 (16): 2907-2912.
  • Hazem, ZB, Fotuhi, MJ, Bingül, Z, 2020. A Comparative Study of the Joint Neuro-Fuzzy Friction Models for a Triple Link Rotary Inverted Pendulum. Institute of Electrical and Electronics Engineers Access, 8: 49066-49078.
  • Hazem, ZB, Fotuhi, MJ, Bingül, Z, 2020. Development of a Fuzzy-lqr and Fuzzy-lqg Stability Control for a Double Link Rotary Inverted Pendulum. Journal of the Franklin Institute, 357 (15): 10529-10556.
  • Hong, GB, Nguyen, HT, Nguyen, MT, Hoang Le, TT, Hai Nguyen, VD, 2019. Trajectory Tracking for Futura Pendulum by Incremental Sliding Mode Control. Robotica and Management, 24 (1).
  • Howimanporn, S, Chookaew, S, Silawatchananai, C, 2020. Comparison between Pid and Sliding Mode Controllers for Rotary Inverted Pendulum Using Plc. Fourth International Conference on Automation, Control, and Robots, 11-13 October 2020, Roma, Italy.
  • Khanesar, MA, Teshnehlab, M, Shoorehdeli, MA, 2007. Sliding Mode Control of Rotary Inverted Pendulum. 2007 Mediterranean Conference on Control and Automation, 27-29 June 2007, Athens, Greece.
  • Krishen, J, Becerra, VM, 2006. Efficient Fuzzy Control of a Rotary Inverted Pendulum Based on Lqr Mapping. 2006 Institute of Electrical and Electronics Engineers Conference on Computer Aided Control System Design, 2006 Institute of Electrical and Electronics Engineers International Symposium on Intelligent Control, 4-6 October 2006, Munich, Germany.
  • Kuo, TC, Huang, YJ, Hong, BW, 2009. Adaptive Pid with Sliding Mode Control for the Rotary Inverted Pendulum System. 2009 Institute of Electrical and Electronics Engineers / American Society of Mechanical Engineers International Conference on Advanced Intelligent Mechatronics, 14-17 July 2009, Singapore. Le, TTH, Vo, AK, Van Nguyen, T, Vu, DH, Tran, MS, 2018. Fuzzy Controller for Rotary Inverted Pendulum. Robotica and Management, 23 (2).
  • Muñoz-Poblete, C, 2018. Pole Placement Controller Applied to a Rotary Inverted Pendulum System. A didactic view. 2018 Institute of Electrical and Electronics Engineers International Conference on Automation/XXIII Congress of the Chilean Association of Automatic Control 17-19 October 2018, Chile. Nath, K, Dewan, L, 2017. Control of a Rotary Inverted Pendulum via Adaptive Techniques. 2017 International Conference on Emerging Trends in Computing and Communication Technologies, 17-19 November 2017, Dehradun, India.
  • Nath, K, Dewan, L, 2018. A Comparative Analysis of Linear Quadratic Regulator and Sliding Mode Control for a Rotary Inverted Pendulum. 2018 International Conference on Recent Trends in Electrical, Control, and Communication, 20-22 March 2018, Malaysia.
  • Stimac, AK, 1999. Standup and Stabilization of the Inverted Pendulum, Massachusetts Institute of Technology, Department of Mechanical Engineering, Doctor of Philosophy Thesis (Printed).
  • Sugie, T, Fujimoto, K, 1998. Controller Design for an Inverted Pendulum Based on Approximate Linearization. International Journal of Robust and Nonlinear Control: International Federation of Automatic Control-Affiliated Journal, 8 (7): 585-597.
  • Sukontanakarn, V, Parnichkun, M, 2009. Real-time Optimal Control for Rotary Inverted Pendulum. American Journal of Applied Sciences, 6 (6): 1106. Wang, W, 2009. Adaptive Fuzzy Sliding Mode Control for Inverted Pendulum. 2009 International Symposium on Computer Science and Computational Technology, 29-31 August 2009, Vancouver, Canada.
  • Yan, Q, 2003. Output Tracking of Underactuated Rotary Inverted Pendulum by Nonlinear Controller. 42nd Institute of Electrical and Electronics Engineers International Conference on Decision and Control, 9-12 December 2003, Maui, United States of America. Yiğit, İ, 2017. Model Free Sliding Mode Stabilizing Control of a Real Rotary Inverted Pendulum. Journal of Vibration and Control, 23 (10): 1645-1662. Young, KD, Utkin, VI, Ozguner, U, 1999. A Control Engineer's Guide to Sliding Mode Control. Institute of Electrical and Electronics Engineers Transactions on Control Systems Technology, 7 (3): 328-342.
  • Zhong, W, Rock, H, 2001. Energy and Passivity Based Control of the Double Inverted Pendulum on a Cart. 2001 Institute of Electrical and Electronics Engineers International Conference on Control Applications, 5-7 September 2001, Mexico City, Mexico. Zabihifar, SH, Yushchenko, AS, Navvabi, H, 2020. Robust Control Based on Adaptive Neural Network for Rotary Inverted Pendulum with Oscillation Compensation. Neural Computing and Applications, 32 (18): 14667-14679.

Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum

Yıl 2023, Cilt: 13 Sayı: 2, 1165 - 1175, 01.06.2023

Muhammet Aydın Oğuz Yakut

https://doi.org/10.21597/jist.1168611

Öz

This study covers the control of the pendulum angle by taking into account the dynamic equations and motor dynamics of the rotary inverted pendulum system, with the help of state variables in the Matlab program, by using the sliding mode control method with sliding surface moving and the adaptive neural fuzzy inference system together. The sliding mode control method with a changing sliding surface is a part of the control structure. The slope of the sliding surface was calculated using the adaptive neural fuzzy inference technique. The optimum values of the coefficients in the adaptive neural-fuzzy inference system structure have been calculated by genetic algorithm. The finding of the coefficients, the sum of the squares of the errors chosen as the objective function. The input of the adaptive neural fuzzy inference system structure consists of the error of the pendulum and the derivative of the error of the pendulum. The gradient of the sliding surface of the sliding mode control structure is the output of the adaptive neural fuzzy inference system structure. According to the findings, the pendulum angle achieved the appropriate reference value after 1.5 seconds, with an error of around zero. It obtained that the engine torque value reaches up to 50 Nm. From here, it is seen that the motor torque values used in practical applications and the motor torque values as a result of this study overlap.

Anahtar Kelimeler

Rotary inverted pendulum sliding mode control anfis moving sliding surface

Kaynakça

  • Altinoz, OT, Yilmaz, AE, Weber, GW, 2010. Chaos Particle Swarm Optimized Pid Controller for the Inverted Pendulum System. Second International Conference on Engineering Optimization, 6-9 September 2010, Lisbon, Portugal.
  • Awtar, S, King, N, Allen, T, Bang, I, Hagan, M, Skidmore, D, Craig, K, 2002. Inverted Pendulum Systems: Rotary and Arm-Driven-a Mechatronic System Design Case Study. Mechatronics, 12 (2): 357-370.
  • Aydin, M, Yakut, O, Tutumlu, H, 2019. Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System. Journal of Engineering and Technology, 3 (1): 32-41.
  • Aydin, M, Yakut, O, 2022. Application of Fuzzy Sliding Mode Control with Moving Sliding Surface to Rotary Inverted Pendulum. Journal of Advanced Research in Natural and Applied Sciences, 8(3).
  • Bogdanov, A, 2004. Optimal Control of a Double Inverted Pendulum on a Cart. Health and Science University Technical Report. CSE-04-006, Oregon Graduate Institute School of Science and Engineering, Oregon, United States of America.
  • Bugeja, M, 2003. Non-linear Swing-up and Stabilizing Control of an Inverted Pendulum System. Computer as a Tool, 2: 437-441.
  • Chawla, I, Singla, A, 2021. Real-time Stabilization Control of a Rotary Inverted Pendulum Using Lqr-based Sliding Mode Controller. Arabian Journal for Science and Engineering, 46 (3): 2589-2596. Cui, J, 2019. Numerical Design Method for Nonlinear Sliding Mode Control of Inverted Pendulum. 38th Chinese Control Conference, 27-29 July 2019, Guangzhou, China. Edwards, C, Spurgeon, S, 1998. Sliding Mode Control: Theory and Applications. Chemical Rubber Company Press.
  • Hassanzadeh, I, Mobayen, S, 2008. Pso-based Controller Design for Rotary Inverted Pendulum System. Journal of Applied Sciences, 8 (16): 2907-2912.
  • Hazem, ZB, Fotuhi, MJ, Bingül, Z, 2020. A Comparative Study of the Joint Neuro-Fuzzy Friction Models for a Triple Link Rotary Inverted Pendulum. Institute of Electrical and Electronics Engineers Access, 8: 49066-49078.
  • Hazem, ZB, Fotuhi, MJ, Bingül, Z, 2020. Development of a Fuzzy-lqr and Fuzzy-lqg Stability Control for a Double Link Rotary Inverted Pendulum. Journal of the Franklin Institute, 357 (15): 10529-10556.
  • Hong, GB, Nguyen, HT, Nguyen, MT, Hoang Le, TT, Hai Nguyen, VD, 2019. Trajectory Tracking for Futura Pendulum by Incremental Sliding Mode Control. Robotica and Management, 24 (1).
  • Howimanporn, S, Chookaew, S, Silawatchananai, C, 2020. Comparison between Pid and Sliding Mode Controllers for Rotary Inverted Pendulum Using Plc. Fourth International Conference on Automation, Control, and Robots, 11-13 October 2020, Roma, Italy.
  • Khanesar, MA, Teshnehlab, M, Shoorehdeli, MA, 2007. Sliding Mode Control of Rotary Inverted Pendulum. 2007 Mediterranean Conference on Control and Automation, 27-29 June 2007, Athens, Greece.
  • Krishen, J, Becerra, VM, 2006. Efficient Fuzzy Control of a Rotary Inverted Pendulum Based on Lqr Mapping. 2006 Institute of Electrical and Electronics Engineers Conference on Computer Aided Control System Design, 2006 Institute of Electrical and Electronics Engineers International Symposium on Intelligent Control, 4-6 October 2006, Munich, Germany.
  • Kuo, TC, Huang, YJ, Hong, BW, 2009. Adaptive Pid with Sliding Mode Control for the Rotary Inverted Pendulum System. 2009 Institute of Electrical and Electronics Engineers / American Society of Mechanical Engineers International Conference on Advanced Intelligent Mechatronics, 14-17 July 2009, Singapore. Le, TTH, Vo, AK, Van Nguyen, T, Vu, DH, Tran, MS, 2018. Fuzzy Controller for Rotary Inverted Pendulum. Robotica and Management, 23 (2).
  • Muñoz-Poblete, C, 2018. Pole Placement Controller Applied to a Rotary Inverted Pendulum System. A didactic view. 2018 Institute of Electrical and Electronics Engineers International Conference on Automation/XXIII Congress of the Chilean Association of Automatic Control 17-19 October 2018, Chile. Nath, K, Dewan, L, 2017. Control of a Rotary Inverted Pendulum via Adaptive Techniques. 2017 International Conference on Emerging Trends in Computing and Communication Technologies, 17-19 November 2017, Dehradun, India.
  • Nath, K, Dewan, L, 2018. A Comparative Analysis of Linear Quadratic Regulator and Sliding Mode Control for a Rotary Inverted Pendulum. 2018 International Conference on Recent Trends in Electrical, Control, and Communication, 20-22 March 2018, Malaysia.
  • Stimac, AK, 1999. Standup and Stabilization of the Inverted Pendulum, Massachusetts Institute of Technology, Department of Mechanical Engineering, Doctor of Philosophy Thesis (Printed).
  • Sugie, T, Fujimoto, K, 1998. Controller Design for an Inverted Pendulum Based on Approximate Linearization. International Journal of Robust and Nonlinear Control: International Federation of Automatic Control-Affiliated Journal, 8 (7): 585-597.
  • Sukontanakarn, V, Parnichkun, M, 2009. Real-time Optimal Control for Rotary Inverted Pendulum. American Journal of Applied Sciences, 6 (6): 1106. Wang, W, 2009. Adaptive Fuzzy Sliding Mode Control for Inverted Pendulum. 2009 International Symposium on Computer Science and Computational Technology, 29-31 August 2009, Vancouver, Canada.
  • Yan, Q, 2003. Output Tracking of Underactuated Rotary Inverted Pendulum by Nonlinear Controller. 42nd Institute of Electrical and Electronics Engineers International Conference on Decision and Control, 9-12 December 2003, Maui, United States of America. Yiğit, İ, 2017. Model Free Sliding Mode Stabilizing Control of a Real Rotary Inverted Pendulum. Journal of Vibration and Control, 23 (10): 1645-1662. Young, KD, Utkin, VI, Ozguner, U, 1999. A Control Engineer's Guide to Sliding Mode Control. Institute of Electrical and Electronics Engineers Transactions on Control Systems Technology, 7 (3): 328-342.
  • Zhong, W, Rock, H, 2001. Energy and Passivity Based Control of the Double Inverted Pendulum on a Cart. 2001 Institute of Electrical and Electronics Engineers International Conference on Control Applications, 5-7 September 2001, Mexico City, Mexico. Zabihifar, SH, Yushchenko, AS, Navvabi, H, 2020. Robust Control Based on Adaptive Neural Network for Rotary Inverted Pendulum with Oscillation Compensation. Neural Computing and Applications, 32 (18): 14667-14679.
Toplam 22 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Makine Mühendisliği
Bölüm Makina Mühendisliği / Mechanical Engineering
Yazarlar

Muhammet Aydın 0000-0003-2746-9477

Oğuz Yakut 0000-0002-0986-1435

Erken Görünüm Tarihi 27 Mayıs 2023
Yayımlanma Tarihi 1 Haziran 2023
Gönderilme Tarihi 30 Ağustos 2022
Kabul Tarihi 16 Ocak 2023
Yayımlandığı Sayı Yıl 2023 Cilt: 13 Sayı: 2

Kaynak Göster

APA Aydın, M., & Yakut, O. (2023). Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum. Journal of the Institute of Science and Technology, 13(2), 1165-1175. https://doi.org/10.21597/jist.1168611
AMA Aydın M, Yakut O. Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum. Iğdır Üniv. Fen Bil Enst. Der. Haziran 2023;13(2):1165-1175. doi:10.21597/jist.1168611
Chicago Aydın, Muhammet, ve Oğuz Yakut. “Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum”. Journal of the Institute of Science and Technology 13, sy. 2 (Haziran 2023): 1165-75. https://doi.org/10.21597/jist.1168611.
EndNote Aydın M, Yakut O (01 Haziran 2023) Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum. Journal of the Institute of Science and Technology 13 2 1165–1175.
IEEE M. Aydın ve O. Yakut, “Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum”, Iğdır Üniv. Fen Bil Enst. Der., c. 13, sy. 2, ss. 1165–1175, 2023, doi: 10.21597/jist.1168611.
ISNAD Aydın, Muhammet - Yakut, Oğuz. “Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum”. Journal of the Institute of Science and Technology 13/2 (Haziran 2023), 1165-1175. https://doi.org/10.21597/jist.1168611.
JAMA Aydın M, Yakut O. Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum. Iğdır Üniv. Fen Bil Enst. Der. 2023;13:1165–1175.
MLA Aydın, Muhammet ve Oğuz Yakut. “Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum”. Journal of the Institute of Science and Technology, c. 13, sy. 2, 2023, ss. 1165-7, doi:10.21597/jist.1168611.
Vancouver Aydın M, Yakut O. Implementation of Sliding Surface Moving Anfis Based Sliding Mode Control to Rotary Inverted Pendulum. Iğdır Üniv. Fen Bil Enst. Der. 2023;13(2):1165-7.
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