Kapitel/Beitrag aus dem Buch: Schulte, H et al. 2023. Proceedings – 33. Workshop Computational Intelligence: Berlin, 23.-24. November 2023.
This paper presents the derivation of the equations of motion of a 3-DOF
gyroscope with a pendulum attachment through the Euler-Lagrange approach,
followed by a conversion into a Takagi-Sugeno Fuzzy Model. First, suitable
coordinate frames and generalized coordinates are defined, followed by the
definition of the kinetic energy of each body frame of the gyroscope. Next,
the kinetic and potential energy of the pendulum attachment is described. The
derived equations of motion are then validated by simulation and compared
to the behavior of a testbed system (see Figure 1). The conversion to the
Takagi-Sugeno fuzzy model is done by a weighted combination of locally valid
linear models. A set of adequate premise variables and membership functions
represent the nonlinear system. Finally, a controller synthesis through parallel
distributed compensation and LMIs satisfying local quadratic Lyapunov functions
is conducted and validated by simulation.
Brunner, J et al. 2023. Nonlinear Modeling and Control of 3-DOFGyroscope Actuated Furuta Pendulum byTakagi-Sugeno Fuzzy Systems. In: Schulte, H et al (eds.), Proceedings – 33. Workshop Computational Intelligence: Berlin, 23.-24. November 2023. Karlsruhe: KIT Scientific Publishing. DOI: https://doi.org/10.58895/ksp/1000162754-7
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Veröffentlicht am 18. November 2023