|Neural-network-based Fuzzy Logic Control of a 3D Rigid Pendulum
Kui Zou* and Xinsheng Ge
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2425-2435, 2017
Abstract : "This paper concerns the attitude control problem of a 3D rigid pendulum based on dynamic T-S fuzzy
neural model. A generalized 3D rigid pendulum subjected to a constant gravitational force consists of a rigid body
supported by a fixed and frictionless pivot with three degrees of freedom. There exist two equilibriums of the 3D
rigid pendulum characterized with unstable manifolds near the inverted equilibrium and stable manifolds near the
hanging equilibrium. For the attitude control problem at the equilibrium position, T-S fuzzy neural model is adopted
to approximate the nonlinear part of the 3D rigid pendulum. The method of parallel distributed compensation is
used to form the angular velocity feedback controller to cope with the nonlinearity. Moreover, an attitude feedback
controller is designed for the linear part so as to guarantee the overall system’s stability. Numerical simulations are
performed to illustrate the validity of the proposed method."
Keyword : Attitude control, PDC method, 3D rigid pendulum, T-S fuzzy neural model.