Dissertation > Excellent graduate degree dissertation topics show

The Application of Fuzzy Control and Neural Network in Planar Double Inverted Pendulum

Author: HeFeng
Tutor: WangTong
School: Harbin Institute of Technology
Course: Control Theory and Control Engineering
Keywords: Planar inverted pendulum Fuzzy control Neural network Sliding mode control Reference compensation technique
CLC: TP273.4
Type: Master's thesis
Year: 2008
Downloads: 276
Quote: 0
Read: Download Dissertation

Abstract


With the development of research activity in control technology, research on the accurate control strategy for inverted pendulum is playing an increasingly important role in the complicated object control of industrial production. The inverted pendulum is widely used as a method of verification experiment platform for its multivariable,nonlinear and strong-coupling. Inverted pendulum mainly includes linear inverted pendulum、rotary inverted pendulum and planar inverted pendulum three categories,of which planar inverted pendulum belongs to a relatively new kind,comparing with the other kinds of inverted pendulum, the control of planar inverted pendulum is more challenging for the two-dimensional movement of the cart.As the structure of planar inverted pendulum is relatively complex,the results of research in the field are relatively few. This paper makes a comparative study upon the application of planar double inverted pendulum in the real system with two widespread intelligent control methods——fuzzy control and neural network.In this paper,the GPIP2002 planar double inverted pendulum of Googol Technology LTD is considered as the plant. The main work of this thesis is outlined as follows.First, the GPIP2002 planar double inverted pendulum was introduced. And the nonlinear model was established by dynamic method, and then, two decoupled linear models were obtained by linearization around the balance states.Second, the fuzzy sliding mode control (FSMC) and the neural network model reference compensation control were proposed in this research. For the complexity of the system and the influence of measuring error and friction, the deviation of the linearized model is a little big. The effect of conventional controller based on linearized model is inaccessible to be ideal.By contrast, the analysis of the experimental result indicates that both the fuzzy sliding mode control (FSMC) and the neural network model reference compensation control can compensate for the uncertainty of the model well.Third, a control software was developed for Googol GPIP2002 planar double inverted pendulum,which greatly facilitates comparison and analysis of these different algorithms.It not only achieves the optimal controller, but also the above-mentioned two controllers. The data collected with this software showed the effectiveness of the above-mentioned two controllers.

Related Dissertations

  1. Development of the Platform for Compressor Optimization Design and Aerodynamic Optimization Design in the Transonic Compressor,TH45
  2. Attitude Control of a Three-Axis Stabilized Satellite,V448.22
  3. Satellite Attitude Control Methods Using Only Magnetorquers,V448.222
  4. Attitude Determination and Finite Time Control Algorithms for a Satellite,V448.222
  5. Research of Image Guided Technology for Cable Tunnel Patrol Vehicle,U469.6
  6. Research on Feature Extraction and Classification of Tongue Shape and Tooth-Marked Tongue in TCM Tongue Diagnosis,TP391.41
  7. Study on Virtual Detector of Infrared Hyper-Spectral Image,TP391.41
  8. Research on Design of an Angular Acceleration Control System,TP273
  9. Research of Visual Servoing in 4-DOF Robotic Manipulator,TP242.6
  10. Research on Visual Servo System of Mechanical ARM,TP242.6
  11. Sliding Mode Variable Tructure Control for Separating-Mirror System and Inhibit Chattering,TP273
  12. Design of Weapon Detection Device Control System,TP183
  13. Study on Adaptive Fuzzy Control Algorithm and Its Implementation,TP273.4
  14. Municipal tourism land use planning environmental impact assessment,X820.3
  15. Research on the Inteligent System of High Performance Concrete Mix Design in Zhujiang Triangle Area,TU528
  16. Study on Taste Characteristic of Taste Peptide Enzymatic Production from Oyster Base on A Neural Network Method,TS254.4
  17. The Grid-Connected Wind-solar Hybrid Generation System and Maximum Power Point Tracking,TM61
  18. Control System of Rotary Drying for Flake Agricultural Materials,S226.6
  19. Smart Control Research in Paddy Drying Based on BP Neural Network,S226.6
  20. BP network optimization based on genetic algorithm optimization of the biodiesel process,TE667

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Fuzzy control, fuzzy control system
© 2012 www.DissertationTopic.Net  Mobile