IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems 2016Robot manipulation Netaji Subhas University of Tech

Fuzzy controller with grey predictor for an inverted pendulum

A grey predictor enhances fuzzy PD control of an inverted pendulum, reducing settling time to 0.037 seconds and outperforming PID and fuzzy PD controllers.

Akarsh Kumar, Amanvir Singh Sidana, Akshit Kanda, Vineet Kumar, Kamal Pal Singh Rana

Published Jul 1, 2016Paper ↗

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Abstract

This paper presents an application of grey predictor with a fuzzy controller for effective control of a moving cart inverted pendulum. A comparative study between PID; fuzzy PD (FPD) controller and a fuzzy PD controller with grey predictor (FPD-GP) has been carried out to assess the relative performance of the developed controller for the attained settling time. Genetic algorithm has been used to tune the gains of all the controllers. Settling times of 0.6519s; 0.0504s and 0.0370s were obtained for PID; FPD and FPD-GP controllers; respectively. Additionally; the pendulum was subjected to the impulse and sinusoidal disturbances and the disturbance rejection capabilities of the three controllers were analyzed. FPD-GP outperformed FPD and PID controllers.