Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system

Vijay Mohan; Narinder Singh

doi:10.1109/ISPCC.2013.6663452

Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system

Vijay Mohan
, Narinder Singh

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.

Original language	English
Title of host publication	2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013
DOIs	https://doi.org/10.1109/ISPCC.2013.6663452
Publication status	Published - 2013
Event	2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013 - Shimla, HP, India Duration: 26-09-2013 → 28-09-2013

Publication series

Name	2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013

Conference

Conference	2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013
Country/Territory	India
City	Shimla, HP
Period	26-09-13 → 28-09-13

All Science Journal Classification (ASJC) codes

Signal Processing

Access to Document

10.1109/ISPCC.2013.6663452

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Mohan, V., & Singh, N. (2013). Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system. In 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013 Article 6663452 (2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013). https://doi.org/10.1109/ISPCC.2013.6663452

@inproceedings{5a347a6ed52e400e9a007bcf2dc1481d,

title = "Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system",

abstract = "In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.",

author = "Vijay Mohan and Narinder Singh",

year = "2013",

doi = "10.1109/ISPCC.2013.6663452",

language = "English",

isbn = "9781467361903",

series = "2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013",

booktitle = "2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013",

note = "2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013 ; Conference date: 26-09-2013 Through 28-09-2013",

}

Mohan, V & Singh, N 2013, Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system. in 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013., 6663452, 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013, 2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013, Shimla, HP, India, 26-09-13. https://doi.org/10.1109/ISPCC.2013.6663452

Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system. / Mohan, Vijay; Singh, Narinder.
2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013. 2013. 6663452 (2013 IEEE International Conference on Signal Processing, Computing and Control, ISPCC 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

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AU - Mohan, Vijay

AU - Singh, Narinder

PY - 2013

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N2 - In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.

AB - In this paper performance of LQR and ANFIS control for a Double Inverted Pendulum system is compared. The double inverted pendulum system is highly unstable and nonlinear. Mathematical model is presented by linearizing the system about its vertical position. The analysis of the system is performed for its stability, controllability and observability. Furthermore, the LQR controller and ANFIS controller based on the state variable fusion is proposed for the control of the double inverted pendulum system and simulation results show that ANFIS controller has better tracking performance and disturbance rejecting performance as compared to LQR controller.

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DO - 10.1109/ISPCC.2013.6663452

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SN - 9781467361903

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ER -

Performance comparison of LQR and ANFIS controller for stabilizing double inverted pendulum system

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