Fuzzy logic based LQG controller design for inverted pendulum on cart

Anh Vu Nguyen, Van Thuyen Ngo, Wen June Wang, Van Phong Vu, Thanh Quyen Ngo, Anh Ntuan Nguyen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, the fuzzy logic controller-based LQG (Linear Quadratic Gaussian) will be developed to stabilize the Inverted Pendulum (IP) on Cart. The LQG that is the combination of LQR and Kalman filter is designed to stabilize the system and eliminate the influences of both the disturbance and measurement noise. Combining the Fuzzy logic Controller and LQG (Linear Quadratic Gaussian) will not only assist to decrease considerably the number of fuzzy rules and avoid the 'fuzzy rule explosion' phenomenon of the fuzzy logic controller but also improve the performance of the system. Finally, the simulation results are proved to prove the effectiveness of the proposed method and the comparison is also carried to show the superior of the Fuzzy Logic-based LQG controller with respect to the conventional LQG controller.

Original languageEnglish
Title of host publicationProceedings of 2021 International Conference on System Science and Engineering, ICSSE 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages387-392
Number of pages6
ISBN (Electronic)9781665448482
DOIs
StatePublished - 26 Aug 2021
Event2021 International Conference on System Science and Engineering, ICSSE 2021 - Virtual, Ho Chi Minh City, Viet Nam
Duration: 26 Aug 202128 Aug 2021

Publication series

NameProceedings of 2021 International Conference on System Science and Engineering, ICSSE 2021

Conference

Conference2021 International Conference on System Science and Engineering, ICSSE 2021
Country/TerritoryViet Nam
CityVirtual, Ho Chi Minh City
Period26/08/2128/08/21

Keywords

  • Fuzzy logic
  • Inverted Pendulum on Cart
  • LQG

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