A Study of Anti-swing Fuzzy LQR Control of a Double Serial Link Rotary Pendulum

Hazem Z. B., Fotuhi M. J., BİNGÜL Z.

IETE JOURNAL OF RESEARCH, vol.69, no.6, pp.3443-3454, 2023 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 69 Issue: 6
  • Publication Date: 2023
  • Doi Number: 10.1080/03772063.2021.1911690
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Applied Science & Technology Source, Compendex, Computer & Applied Sciences, INSPEC
  • Page Numbers: pp.3443-3454
  • Keywords: Anti-swing control, double serial link rotary pendulum, fuzzy logic control, fuzzy LQR, linear quadratic regulator, INVERTED PENDULUM, OVERHEAD CRANE
  • Kocaeli University Affiliated: Yes


In this work, a Fuzzy Linear Quadratic Regulator (FLQR) is developed for the anti-swing control problem of a Double Serial Link Rotary Pendulum (DSLRP) system. The main objective of this paper is to study the anti-swing FLQR controller and compare it with the classical LQR controller. A dynamic mechanical model of the DLRP was simulated numerically in the SimMechanics toolbox/MATLAB. This model can be defined mathematically as the single input and multiple output non-linear dynamic equations. To verify the performance of both anti-swing controllers, different time-domain control specifications are computed. Moreover, to show the controllers performance, simulation and experiments results are given and compared. According to the comparative results, the FLQR anti-swing controller produces better results than classical LQR in term of time-domain control specifications. Moreover, the controllers' dynamic responses were compared according to robustness analysis in the presence of external force disturbance. The results obtained here indicate that the FLQR anti-swing controller product better performance than others in term of vibration suppression capability.