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All Journal Indonesian Journal of Engineering and Science (IJES) Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Minh-Tuan
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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ANFIS-based LQR Control for Rotary Double Parallel Inverted Pendulum Nguyen, Chi-Hung; Tran, Van-Si; Nguyen, Xuan-Hoang; Truong, Quang-Bao; Nguyen, Minh-Tuan; Luong, Nguyen-Phat; Ngo, Kha-Vy; Nguyen, Duc-Huy; Nguyen, Thanh-Trung; Le, Thi-Thanh-Hoang
Journal of Fuzzy Systems and Control Vol. 2 No. 2 (2024): Vol. 2, No. 2, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i2.214

Abstract

This article explores two methodologies: Linear Quadratic Regulation (LQR) and the application of the Adaptive Neuro-Fuzzy Inference System (ANFIS) on the Rotary Double Inverted Pendulum in Parallel Type (PRDIP) model. This model belongs to a class of underactuated robots, representing a nonlinear system with a mechanically simplistic configuration yet exhibiting considerable nonlinearity. Therefore, ANFIS is utilized to learn the input-output data, responses, and feedback of LQR. The response of the system's output to both LQR and ANFIS is compared to demonstrate the effectiveness of ANFIS in learning from the principles of LQR. This demonstration is supported through three cases: one simulation case and two experimental cases. Both control strategies are applied to the PRDIP system at the zero and -π positions, where one pendulum remains upright, and the other descends to counteract oscillations. The study presents simulation and experimental results to evaluate the points above comprehensively.
PID TRAJECTORY TRACKING CONTROL FOR BALL-AND-PLATE SYSTEM Vo, Tuan-Vu; Dang, Thai-Duong; Chung, Gia-Khang; Dang, Xuan-Truong; Ma, Thanh-Phat; Nguyen, Thanh-Lam; Dau, Nhat-Quang; Cao, Nam-Thai; Huynh, Thien-Phuc; Tong, Minh-Thong; Nguyen, Minh-Tuan; Nguyen, Hoai-Minh; Nguyen, Duc-Bao-Long
Indonesian Journal of Engineering and Science Vol. 6 No. 1 (2025): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v6i1.169

Abstract

Ball-on-Plate (BoP) is developing a ball-and-beam system. This transformation transforms a single input-multi output (SIMO) system into a multi input-multi output (MIMO) under-actuated system. In this paper, we utilize the PID method—a popular linear control method in industry and academia—to track trajectory control for BoP. This system's self-made hardware is presented to test PID control through an experiment. This method is shown to track trajectory control well for real-time BoP.
Co-Authors Cao, Nam-Thai Chung, Gia-Khang Dang, Thai-Duong Dang, Xuan-Truong Dau, Nhat-Quang Huynh, Thien-Phuc Le, Thi-Thanh-Hoang Luong, Nguyen-Phat Ma, Thanh-Phat Ngo, Kha-Vy Nguyen, Chi-Hung Nguyen, Duc-Bao-Long Nguyen, Duc-Huy Nguyen, Hoai-Minh Nguyen, Thanh-Lam Nguyen, Thanh-Trung Nguyen, Xuan-Hoang Tong, Minh-Thong Tran, Van-Si Truong, Quang-Bao Vo, Tuan-Vu