Journal of Fuzzy Systems and Control (JFSC)
Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025

An LQR-Based ANFIS Control for Double-Linked Inverted Pendulum on Cart

Pham, Truong-Phuong-Nam (Unknown)
Tran, Trong-Bang (Unknown)
Nguyen, Van-Dong-Hai (Unknown)
Nguyen, Tai-Tue (Unknown)
Nguyen, Gia-Thinh (Unknown)
Nguyen, Duy-Phat (Unknown)
Nguyen, Dong-Khang (Unknown)
Ha, Van-An (Unknown)
Trinh, The-Nam-Chau (Unknown)
Nguyen, Trung-Thang (Unknown)

Article Info

Publish Date
07 Jul 2025

Abstract

This paper presents a double-linked inverted pendulum on a cart system, which is highly nonlinear and inherently unstable. In the simulation, the state variable outputs are processed through three ENCODER blocks with a resolution of 1000 pulses, as we aim to develop a mathematical model that closely approximates real-world experiments. The objective of this study is to use an ANFIS controller to learn from data that closely resembles the actual system behavior under an LQR controller and apply it in a simulation environment to evaluate the stability and response of the system under both ANFIS and LQR controllers. The results show that the ANFIS controller provides better responses than the LQR controller.

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Journal Info
Journal of Fuzzy Systems and Control (JFSC)
Website

Abbrev

jfsc

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Description

Journal of Fuzzy Systems and Control is an international peer review journal that published papers about Fuzzy Logic and Control Systems. The Journal of Fuzzy Systems and Control should encompass original research articles, review articles, and case studies that contribute to the advancement of the ...