Robust fixed point transformations-based model reference adaptive control of inverted pendulums

Teréz A. Várkonyi, József K. Tar, Imre J. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Nowadays Lyapunov's second method is the most prevalent in control tasks. Although, the method is ingenious, sometimes using other solutions can be more comfortable because of its lower complexity. One of these methods is the family of Robust Fixed Point Transformations (RFPT) which proved to be very useful in many cases. In this paper a modified, RFPT-based Model Reference Adaptive Controller (MRAC) is suggested for balancing two inverted pendulums. The simulation results show that this controller, instead of a simple traditional PD-type controller, can handle the dynamic system very well, and after a short stabilizing period it keeps the tracing error very low.

Original languageEnglish
Title of host publication12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011 - Proceedings
Pages591-596
Number of pages6
DOIs
Publication statusPublished - Dec 1 2011
Event12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011 - Budapest, Hungary
Duration: Nov 21 2011Nov 22 2011

Publication series

Name12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011 - Proceedings

Other

Other12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011
CountryHungary
CityBudapest
Period11/21/1111/22/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Information Systems

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    Várkonyi, T. A., Tar, J. K., & Rudas, I. J. (2011). Robust fixed point transformations-based model reference adaptive control of inverted pendulums. In 12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011 - Proceedings (pp. 591-596). [6108471] (12th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2011 - Proceedings). https://doi.org/10.1109/CINTI.2011.6108471