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Mukhtar Fatihu Hamza
Department of Mechatronics Engineering, Bayero University Kano, Nigeria
Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Engineering Mechanical Engineering

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Performance Comparisons Of Hybrid Fuzzy-LQR And Hybrid PID-LQR Controllers On Stabilizing Double Rotary Inverted Pendulum Jamilu Kamilu Adamu; Mukhtar Fatihu Hamza; Abdulbasid Ismail Isa
Journal of Applied Materials and Technology Vol. 1 No. 2 (2020): March 2020
Publisher : AMTS and Faculty of Engineering - Universitas Riau

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31258/Jamt.1.2.71-80

Abstract

Double Rotary Inverted Pendulum (DRIP) is a member of the mechanical under-actuated system which is unstable and nonlinear. The DRIP has been widely used for testing different control algorithms in both simulation and experiments. The DRIP control objectives include Stabilization control, Swing-up control and trajectory tracking control. In this research, we present the design of an intelligent controller called “hybrid Fuzzy-LQR controller” for the DRIP system. Fuzzy logic controller (FLC) is combined with a Linear Quadratic Regulator (LQR). The LQR is included to improve the performance based on full state feedback control. The FLC is used to accommodate nonlinearity based on its IF-THEN rules. The proposed controller was compared with the Hybrid PID-LQR controller. Simulation results indicate that the proposed hybrid Fuzzy-LQR controllers demonstrate a better performance compared with the hybrid PID-LQR controller especially in the presence of disturbances.
Co-Authors Abdulbasid Ismail Isa Jamilu Kamilu Adamu