American Journal of Applied Sciences

Intelligent Control for Self-erecting Inverted Pendulum Via Adaptive Neuro-fuzzy Inference System

A. A. Saifizul, Z. Zainon, N. A.B. Osman, C. A. Azlan and U. F.S.U. Ibrahim

DOI : 10.3844/ajassp.2006.1795.1802

American Journal of Applied Sciences

Volume 3, Issue 4

Pages 1795-1802


A self-erecting single inverted pendulum (SESIP) is one of typical nonlinear systems. The control scheme running the SESIP consists of two main control loops. Namely, these control loops are swing-up controller and stabilization controller. A swing-up controller of an inverted pendulum system must actuate the pendulum from the stable position. While a stabilization controller must stand the pendulum in the unstable position. To deal with this system, a lot of control techniques have been used on the basis of linearized or nonlinear model. In real-time implementation, a real inverted pendulum system has state constraints and limited amplitude of input. These problems make it difficult to design a swing-up and a stabilization controller. In this paper, first, the mathematical models of cart and single inverted pendulum system are presented. Then, the Position-Velocity controller is designed to swing-up the pendulum considering physical behavior. For stabilizing the inverted pendulum, a Takagi-Sugeno fuzzy controller with Adaptive Neuro-Fuzzy Inference System (ANFIS) architecture is used to guarantee stability at unstable equilibrium position. Experimental results are given to show the effectiveness of these controllers.


© 2006 A. A. Saifizul, Z. Zainon, N. A.B. Osman, C. A. Azlan and U. F.S.U. Ibrahim. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.