FUZZY CONTROL OF AN INVERTED PENDULUM WITH FUZZY COMPENSATION OF FRICTION FORCES

被引：8
|
作者：
OSTERTAG, E
CARVALHOOSTERTAG, MJ
机构：
[1] Ecole Nationale Supérieure de Physique de Strasbourg, Laboratoire des Sciences de I’Image et de la Télédétection, Groupe de Recherches en Automatique et Informatique Industrielle, Strasbourg, F-67000, 7, rue de ’Université
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 1993年 / 24卷 / 10期
关键词：
D O I：
10.1080/00207729308949603
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of this paper is to compare the stabilization, with friction compensation, of an unstable mechanical system, an inverted pendulum, by two methods: the state feedback method, which belongs to the mathematical model-based approach, and fuzzy control. In both cases, the friction forces are compensated either by a simple method, the switching of a constant threshold, or a more sophisticated one: a disturbance observer in the model-based approach and a fuzzy compensator in the fuzzy control situation. The results obtained with the latter are comparable with or even better than those obtained with the former.
引用
收藏
页码：1915 / 1921
页数：7
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