Anti-Swing and Position Control of Double Inverted Pendulum (DIP) on Cart Using Hybrid Neuro-Fuzzy Controllers
Ashwani Kharola · International Journal of Information Technology and Computer Science · 2016
This paper illustrates a comparison study for control of highly non-linear Double Inverted Pendulu m (DIP) on cart.A Matlab-Simu link model of DIP has been built using Newton's second law.The Neuro-fuzzy controllers stabilizes pendulums at vert ical position while cart moves in horizontal d irect ion.This study proposes two soft-computing techniques namely Fuzzy logic reasoning and Neural networks (NN's) for control of DIP systems.The results shows that Fuzzy controllers provides better results as compared to NN's controllers in terms of settling time (sec), maximu m overshoot (degree) and steady state error.The regression (R) and mean square error (MSE) values obtained after training of Neural network were satisfactory.The simulation results proves the validity of proposed techniques.