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All Journal Journal of Robotics and Control (JRC) Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Thanh-Trung
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Mechanical Engineering

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Journal : Journal of Fuzzy Systems and Control (JFSC)

 1 
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 Control for Cart and Pole system: Simulation and Experiment Dang, Thai-Bao; Ngo, Truong-Doan-Hy; Tran, Thanh-Danh; Vo, Thi-Kieu-Tien; Lai, Nguyen-Ngoc-Truc; Huynh, Thi-My-Linh; Nguyen, Thi-My-Hang; Nguyen, Thi-My; Le, Tuong-Vy; Pham, Khanh-Hung; Huynh, Nguyen-Cuong; Nguyen, Anh-Tuan; Nguyen, Thanh-Trung
Journal of Fuzzy Systems and Control Vol. 2 No. 1 (2024): Vol. 2, No. 1, 2024
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v2i1.165

Abstract

Inverted pendulum (IP) is a single input-multi output (SIMO) nonlinear system that is popular in laboratories of control engineering. In this paper, we propose a structure of the PID control method – the most popular control method in the industry - for the cart and pole (C&P) system- a kind of IP. In this case, a suitable structure can help single input-single output (SISO) linear controllers to balance well. By this combination, the PID method can be used to stabilize this model at the equilibrium point. This controller is proven to work well in simulation. Therefore, we also present an experimental model which is created from the STM32F4 Discovery board for testing this algorithm. The experiment results again confirm the suitability of the method in simulation. Therefore, a survey of PID calibration is examined. The experimental survey confirms the suitability of this PID controller with theoretical points. The results from this study can be used to examine and train algorithms for learners in control laboratories.
Co-Authors Dang, Thai-Bao Huynh, Nguyen-Cuong Huynh, Thi-My-Linh Lai, Nguyen-Ngoc-Truc Le, Thi-Thanh-Hoang Le, Tuong-Vy Luong, Nguyen-Phat Ngo, Kha-Vy Ngo, Truong-Doan-Hy Nguyen, Anh-Tuan Nguyen, Chi-Hung Nguyen, Dinh-Hieu Nguyen, Duc-Huy Nguyen, Minh-Tuan Nguyen, Thi-My Nguyen, Thi-My-Hang Nguyen, Xuan-Hoang Pham, Khanh-Hung Tran, Minh-Duc Tran, Thanh-Danh Tran, Van-Si Truong, Quang-Bao Vo, Thi-Kieu-Tien Vu, Van-Phong