Neuro-fuzzy stabilization of the rotating platform
Ruslan S. Biryukov (Lobachevsky State University of Nizhny Novgorod)
Stepan M. Shulpin (Lobachevsky State University of Nizhny Novgorod)
Abstract
We consider a mathematical model of the simplest movements of a person balancing on a movable support. The model is a planar single-link inverted pendulum connected by a cylindrical hinge with a seesaw. The pendulum can oscillate in a plane perpendicular to the axis of the hinge. The main purpose is to keep the seesaw in a horizontal position by changing the position of the pendulum. The balancing regulator was synthesized using the neuro-fuzzy approach. A modified genetic algorithm was used to adjust the regulator parameters and adapt the rule base. The efficiency of the constructed controller is confirmed by numerical experiments.
Speaker
Stepan Shulpin
Lobachevsky State University of Nizhny Novgorod
Russia
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