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All Journal Journal of Fuzzy Systems and Control (JFSC)
Tran, Minh-Duy
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Analysis of Linear and Intelligent Control for Balancing Pendubot System Tran, Minh-Duy; Le, Diep-Thuy-Duong; Phan, Hong-Phuoc; Vo, Hoang-Viet; Ngo, Dang-Quang-Tinh; Nguyen, Ngoc-Duy; Nguyen, Tan-Phat; Tran, Nhat-Linh; Vo, Thanh-An; Le, Thi-Thanh-Hoang
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.272

Abstract

Pendubot is a typical under-actuated SIMO control system, commonly used in research on control algorithms. Rather than focusing on analyzing a single control algorithm, this paper provides an overview of control efficiency as well as differences between algorithms through analytical assessments. In this study, the authors analyzed algorithms including feedback linearization (a linear algorithm), LQR – optimal control (a linear algorithm), and fuzzy control (an intelligent algorithm) to stabilize the model at the equilibrium position of the TOP position – where both bars of the system stand upright in the opposite direction to gravity. The genetic algorithm (GA) is used to optimize control parameters for the model. These algorithms are simulated in MATLAB/Simulink, and the simulation results are compared, concluding that the LQR control algorithm is the most optimal for balancing this model.
Experimental Swing-Up Control of Advanced Sliding and Energy-based Modes for Pendubot Tran, Minh-Duy; Trinh, Minh-Phu; Do, Nguyen-Son; Phan, Thai-Chan; Ngo, Tan-Bao-Chau; Nguyen, Viet-Thuan; Ngo, Viet-Dung; Hoang, Ngoc-Quan; Trinh, Tan-Phong; Le, Thi-Hong-Lam
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.277

Abstract

This study focuses on the implementation and comparative evaluation of two swing-up control strategies—Energy-Based Methods (EBM) and Advanced Sliding Mode Control (ASMC)—for pendubot, a nonlinear two-link robotic system. While previous research has extensively explored balancing algorithms for this model, swing-up strategies have primarily been analyzed through simulations, with limited application to real-world systems. This research addresses this gap by deploying both EBM and ASMC on a physical pendubot model. Practical results are presented to provide the most accurate evaluation of the control quality of each algorithm.
Co-Authors Do, Nguyen-Son Hoang, Ngoc-Quan Le, Diep-Thuy-Duong Le, Thi-Hong-Lam Le, Thi-Thanh-Hoang Ngo, Dang-Quang-Tinh Ngo, Tan-Bao-Chau Ngo, Viet-Dung Nguyen, Ngoc-Duy Nguyen, Tan-Phat Nguyen, Viet-Thuan Phan, Hong-Phuoc Phan, Thai-Chan Tran, Nhat-Linh Trinh, Minh-Phu Trinh, Tan-Phong Vo, Hoang-Viet Vo, Thanh-An