Estimação de Estados de um Carro-Pêndulo Invertido Usando um Algoritmo Fuzzy Adaptativo Baseado em Inovação

Miriam M. Serrepe Ranno; Francisco das Chagas de Souza; Ginalber L. O. Serra

doi:10.20906/sbai.v1i1.2681

Miriam M. Serrepe Ranno Laboratório de Sistemas Adaptativos e Processamento de Sinais (LSAPS), Universidade Federal do Maranhão (UFMA), São Luís - MA
Francisco das Chagas de Souza Laboratório de Sistemas Adaptativos e Processamento de Sinais (LSAPS), Universidade Federal do Maranhão (UFMA), São Luís - MA
Ginalber L. O. Serra Inteligência Computacional Aplicada à Tecnologia, Instituto Federal de Educação, Ciência e Tecnologia do Maranhão (IFMA), São Luís - MA

DOI: https://doi.org/10.20906/sbai.v1i1.2681

Keywords: Cart-inverted pendulum, extended Kalman filter, fuzzy innovative-based adaptive filter, state estimation

Abstract

State estimation is a technique used in system control and identification, fault detection, monitoring, and prediction. In this work, state estimation of a cart-inverted pendulum system is developed using a fuzzy innovative-based adaptive algorithm, taking into account that the cart-inverted pendulum is a relevant system in real-world applications, such as space vehicle and missile launches, cranes for container handling, and self-balancing robots. Numerical simulation results show the effectiveness and robustness of the used method compared to the extended Kalman filter, considering four challenging scenarios.