Development of Advanced Control Strategies for a Rotary Inverted Pendulum (Furuta) System- Quanser

The present work consists of the simulation and study of the control of a rotary inverted pendulum, a highly nonlinear and underactuated system . The control problem involves maintaining the pendulum balanced through the action of a motor.
In the first part of the project, the mathematical model of the pendulum will be addressed , and the control design will be carried out using different techniques, both classical and modern, that have been learned throughout the academic degree.
The second part of the project will focus on developing multiple controllers by applying advanced control techniques based on artificial intelligence and neural networks.
Finally, a comparative study will be performed to determine the viability of using conventional neural networks to control the rotary inverted pendulum.
The inverted pendulum system on a cart is characterized by its nonlinear nature, instability, and being underactuated, which makes it a widely used pedagogical tool.
This study aims to implement various control strategies to maintain the pendulum in its inverted position.
The proposed control techniques include variations of the classic PID controller, such as the fuzzy-PID controller and the fractional order PID controller. Additionally, the design and implementation of a fractional order fuzzy controller, which combines the characteristics of the two techniques, is proposed for the inverted pendulum system.
The tuning of these controllers is performed using a genetic algorithm to achieve an optimal response. Optimization is evaluated by minimizing selected performance indices. The tuning of each controller is analyzed with different performance indices to determine whether different solutions can lead to diverse behaviors in the same controller.
Subsequently, tests are conducted to compare the performance and robustness of each regulator. Finally, a multi-objective genetic algorithm is designed to tune the fractional order fuzzy controller, aiming to optimize multiple performance indices simultaneously.
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Видео Development of Advanced Control Strategies for a Rotary Inverted Pendulum (Furuta) System- Quanser канала Basil Mohammed Al-Hadithi - باسل محمد الحديثي