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Adaptive Neuro Fuzzy Control of Triple Inverted Pendulum System

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Signals, Machines and Automation (SIGMA 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1023))

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Abstract

This study presents proportional-integral-derivative (PID) and adaptive neuro fuzzy inference system (ANFIS) control strategy to stabilize of highly nonlinear triple inverted pendulum system. A nonlinear dynamic representation of the system has been proposed and simulated in MATLAB/Simulink platform. The result indicates better performance of ANFIS controller compared to PID controller. Both ANFIS and PID controllers were able to stabilize complete system with desirable overshoot and steady state response. In order to minimize if–then fuzzy rules, the ANFIS controller has been designed using only three membership functions of triangular shape. The proposed ANFIS controller aided in solving the problem of fuzzy rule explosion commonly associated with fuzzy controllers.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Graphic Era (Deemed to Be University), Dehradun, India

    Ashwani Kharola

  2. Department of Electronics and Communication Engineering, Delhi Technological University, New Delhi, India

    Rahul

  3. Scabula Labs Private Limited, Dehradun, India

    Varun Pokhriyal

Authors
  1. Ashwani Kharola
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  2. Rahul
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  3. Varun Pokhriyal
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Corresponding author

Correspondence to Ashwani Kharola .

Editor information

Editors and Affiliations

  1. Department of Instrumentation and Control Engineering, Netaji Subhas University of Technology, New Delhi, Delhi, India

    Asha Rani

  2. Department of Instrumentation and Control Engineering, Netaji Subhas University of Technology, New Delhi, Delhi, India

    Bhavnesh Kumar

  3. Department of Electrical Engineering, National Institute of Technology Delhi, New Delhi, Delhi, India

    Vivek Shrivastava

  4. Department of Electrical Engineering, University of Sharjah, Sharjah, United Arab Emirates

    Ramesh C. Bansal

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Kharola, A., Rahul, Pokhriyal, V. (2023). Adaptive Neuro Fuzzy Control of Triple Inverted Pendulum System. In: Rani, A., Kumar, B., Shrivastava, V., Bansal, R.C. (eds) Signals, Machines and Automation. SIGMA 2022. Lecture Notes in Electrical Engineering, vol 1023. Springer, Singapore. https://doi.org/10.1007/978-981-99-0969-8_28

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  • DOI: https://doi.org/10.1007/978-981-99-0969-8_28

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-0968-1

  • Online ISBN: 978-981-99-0969-8

  • eBook Packages: EnergyEnergy (R0)

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