Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum
In this study, considering the dynamic equations of the rotary inverted pendulum system and the motor dynamics, pendulum angle is controlled with fuzzy logic sliding mode control method which has moving sliding surface using state variables in Matlab program. The sliding surface of sliding mode cont...
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| Format: | Article |
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Çanakkale Onsekiz Mart University
2022-09-01
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| Series: | Journal of Advanced Research in Natural and Applied Sciences |
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| Online Access: | https://dergipark.org.tr/en/download/article-file/2048998 |
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| _version_ | 1832095493936644096 |
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| author | Oğuz Yakut Muhammet Aydın |
| author_facet | Oğuz Yakut Muhammet Aydın |
| author_sort | Oğuz Yakut |
| collection | DOAJ |
| description | In this study, considering the dynamic equations of the rotary inverted pendulum system and the motor dynamics, pendulum angle is controlled with fuzzy logic sliding mode control method which has moving sliding surface using state variables in Matlab program. The sliding surface of sliding mode control method is selected as moving. A fuzzy logic structure is used to calculate the slope of slip surface. The boundary values of the membership functions in the fuzzy logic structure have been optimized using genetic algorithm codes in Matlab program. The sum of the squares of the errors is preferred as the objective function. Inputs of the fuzzy logic structure are the error of the pendulum angle and the derivative of pendulum angle error. In the fuzzy logic structure, the slope of sliding surface of sliding mode control structure is obtained as an output. From the results, it was seen that the pendulum angle reached the desired reference value around the first second and the error was approximately zero. In addition, it has been observed that the motor torque value is at the levels of 20 Nm and the motor current value is at the levels of 3 ampers. It has been obtained from the results that the motor values are at reasonable levels close to the values in practical applications. When the motor is selected according to these obtained values, there won't be a problem with the implementation of this control method in real-time applications of the rotary inverted pendulum system |
| format | Article |
| id | doaj-art-93b965107295459a8d61ff43abf5478a |
| institution | Kabale University |
| issn | 2757-5195 |
| language | English |
| publishDate | 2022-09-01 |
| publisher | Çanakkale Onsekiz Mart University |
| record_format | Article |
| series | Journal of Advanced Research in Natural and Applied Sciences |
| spelling | doaj-art-93b965107295459a8d61ff43abf5478a2025-02-05T17:58:09ZengÇanakkale Onsekiz Mart UniversityJournal of Advanced Research in Natural and Applied Sciences2757-51952022-09-018335536910.28979/jarnas.1015366453Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted PendulumOğuz Yakut0https://orcid.org/0000-0002-0986-1435Muhammet Aydın1https://orcid.org/0000-0003-2746-9477FIRAT UNIVERSITYFIRAT ÜNİVERSİTESİIn this study, considering the dynamic equations of the rotary inverted pendulum system and the motor dynamics, pendulum angle is controlled with fuzzy logic sliding mode control method which has moving sliding surface using state variables in Matlab program. The sliding surface of sliding mode control method is selected as moving. A fuzzy logic structure is used to calculate the slope of slip surface. The boundary values of the membership functions in the fuzzy logic structure have been optimized using genetic algorithm codes in Matlab program. The sum of the squares of the errors is preferred as the objective function. Inputs of the fuzzy logic structure are the error of the pendulum angle and the derivative of pendulum angle error. In the fuzzy logic structure, the slope of sliding surface of sliding mode control structure is obtained as an output. From the results, it was seen that the pendulum angle reached the desired reference value around the first second and the error was approximately zero. In addition, it has been observed that the motor torque value is at the levels of 20 Nm and the motor current value is at the levels of 3 ampers. It has been obtained from the results that the motor values are at reasonable levels close to the values in practical applications. When the motor is selected according to these obtained values, there won't be a problem with the implementation of this control method in real-time applications of the rotary inverted pendulum systemhttps://dergipark.org.tr/en/download/article-file/2048998fuzzy logic controlmotor modelmoving sliding mode controlrotary inverted pendulumsliding surface |
| spellingShingle | Oğuz Yakut Muhammet Aydın Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum Journal of Advanced Research in Natural and Applied Sciences fuzzy logic control motor model moving sliding mode control rotary inverted pendulum sliding surface |
| title | Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum |
| title_full | Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum |
| title_fullStr | Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum |
| title_full_unstemmed | Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum |
| title_short | Fuzzy Sliding Mode Control with Moving Sliding Surface of Rotary Inverted Pendulum |
| title_sort | fuzzy sliding mode control with moving sliding surface of rotary inverted pendulum |
| topic | fuzzy logic control motor model moving sliding mode control rotary inverted pendulum sliding surface |
| url | https://dergipark.org.tr/en/download/article-file/2048998 |
| work_keys_str_mv | AT oguzyakut fuzzyslidingmodecontrolwithmovingslidingsurfaceofrotaryinvertedpendulum AT muhammetaydın fuzzyslidingmodecontrolwithmovingslidingsurfaceofrotaryinvertedpendulum |