Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Control of a Rotary Inverted Pendulum System Using Brain Emotional Learning Based Intelligent Controller

BELBIC을 이용한 Rotary Inverted Pendulum 제어

  • Kim, Jae-Won (Department of Bio-Nano System Engineering, Chonbuk National University) ;
  • Oh, Chae-Youn (Division of Mechanical System Engineering, Chonbuk National University)
  • Received : 2013.04.15
  • Accepted : 2013.09.23
  • Published : 2013.10.15
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Abstract

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

Keywords

References

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