Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach

Nohe Ramon Cazarez-Castro; Luis T. Aguilar; Selene L. Cardenas-Maciel; Carlos A. Goribar-Jimenez

doi:10.1007/978-3-319-13650-9_37

Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach

Nohe Ramon Cazarez-Castro, Luis T. Aguilar, Selene L. Cardenas-Maciel, Carlos A. Goribar-Jimenez

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.

Original language	English
Title of host publication	Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings
Editors	Alexander Gelbukh, Félix A. Castro-Espinoza, Sofía N. Galicia-Haro
Publisher	Springer Verlag
Pages	426-435
Number of pages	10
ISBN (Electronic)	9783319136493
DOIs	https://doi.org/10.1007/978-3-319-13650-9_37
State	Published - 2014
Event	13th Mexican International Conference on Artificial Intelligence, MICAI 2014 - Tuxtla Gutiérrez, Mexico Duration: 16 Nov 2014 → 22 Nov 2014

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	8857
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	13th Mexican International Conference on Artificial Intelligence, MICAI 2014
Country/Territory	Mexico
City	Tuxtla Gutiérrez
Period	16/11/14 → 22/11/14

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10.1007/978-3-319-13650-9_37

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Cazarez-Castro, N. R., Aguilar, L. T., Cardenas-Maciel, S. L., & Goribar-Jimenez, C. A. (2014). Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach. In A. Gelbukh, F. A. Castro-Espinoza, & S. N. Galicia-Haro (Eds.), Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings (pp. 426-435). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8857). Springer Verlag. https://doi.org/10.1007/978-3-319-13650-9_37

Cazarez-Castro, Nohe Ramon ; Aguilar, Luis T. ; Cardenas-Maciel, Selene L. et al. / Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach. Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings. editor / Alexander Gelbukh ; Félix A. Castro-Espinoza ; Sofía N. Galicia-Haro. Springer Verlag, 2014. pp. 426-435 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.",

author = "Cazarez-Castro, {Nohe Ramon} and Aguilar, {Luis T.} and Cardenas-Maciel, {Selene L.} and Goribar-Jimenez, {Carlos A.}",

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Cazarez-Castro, NR, Aguilar, LT, Cardenas-Maciel, SL & Goribar-Jimenez, CA 2014, Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach. in A Gelbukh, FA Castro-Espinoza & SN Galicia-Haro (eds), Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8857, Springer Verlag, pp. 426-435, 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Tuxtla Gutiérrez, Mexico, 16/11/14. https://doi.org/10.1007/978-3-319-13650-9_37

Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach. / Cazarez-Castro, Nohe Ramon; Aguilar, Luis T.; Cardenas-Maciel, Selene L. et al.
Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings. ed. / Alexander Gelbukh; Félix A. Castro-Espinoza; Sofía N. Galicia-Haro. Springer Verlag, 2014. p. 426-435 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8857).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cardenas-Maciel, Selene L.

AU - Goribar-Jimenez, Carlos A.

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N2 - This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.

AB - This paper reports the design of a Mamdani type fuzzy controller to solve the regulation problem of a Furuta pendulum. The fuzzy rule-base is designed following the fuzzy Lyapunov synthesis, allowing to guarantee stability of the closed-loop system equilibrium point, minimizing heuristics in the fuzzy controller design stage. An important result of this paper is that the dynamic model of the Furuta pendulum it is not necessary in the design process and only angular position of the pendulum is available for measurements.

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Cazarez-Castro NR, Aguilar LT, Cardenas-Maciel SL, Goribar-Jimenez CA. Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach. In Gelbukh A, Castro-Espinoza FA, Galicia-Haro SN, editors, Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings. Springer Verlag. 2014. p. 426-435. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-13650-9_37

Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach

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