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)

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Nature-Inspired Computation and Machine Learning - 13th Mexican International Conference on Artificial Intelligence, MICAI 2014, Proceedings
Editores	Alexander Gelbukh, Félix A. Castro-Espinoza, Sofía N. Galicia-Haro
Editorial	Springer Verlag
Páginas	426-435
Número de páginas	10
ISBN (versión digital)	9783319136493
DOI	https://doi.org/10.1007/978-3-319-13650-9_37
Estado	Publicada - 2014
Evento	13th Mexican International Conference on Artificial Intelligence, MICAI 2014 - Tuxtla Gutiérrez, México Duración: 16 nov. 2014 → 22 nov. 2014

Serie de la publicación

Nombre	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volumen	8857
ISSN (versión impresa)	0302-9743
ISSN (versión digital)	1611-3349

Conferencia

Conferencia	13th Mexican International Conference on Artificial Intelligence, MICAI 2014
País/Territorio	México
Ciudad	Tuxtla Gutiérrez
Período	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. En 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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title = "Pendulum position based fuzzy regulator of the Furuta pendulum – a stable closed-loop system design approach",

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. En 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, México, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AU - Cazarez-Castro, Nohe Ramon

AU - Aguilar, Luis T.

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. En Gelbukh A, Castro-Espinoza FA, Galicia-Haro SN, editores, 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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