MARC details
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| fixed length control field |
04098nam a2200373 i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER |
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| control field |
MY-KuUP |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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20251125105804.0 |
| 006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS |
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a||||fr|||| 001 0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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ta |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
201110t20202020my a|||frma|| 000 0 eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
THE0008574(Local) |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
UMP |
| Language of cataloging |
eng |
| Transcribing agency |
UMP |
| Description conventions |
rda |
| 090 ## - LOCALLY ASSIGNED LC-TYPE CALL NUMBER (OCLC); LOCAL CALL NUMBER (RLIN) |
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| Classification number (OCLC) (R) ; Classification number, CALL (RLIN) (NR) |
FTKEE .F57 2020 r Thesis |
| 100 0# - MAIN ENTRY--PERSONAL NAME |
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| Personal name |
Muhammad Firdaus Masrom, |
| Relator term |
author. |
| 245 10 - TITLE STATEMENT |
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| Title |
3D virtual modelling and stabilization control of triple links inverted pendulum on two-wheeled system using enhanced interval type-2 fuzzy logic control / |
| Statement of responsibility, etc. |
Muhammad Firdaus Masrom |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
Kuantan, Pahang : |
| Name of producer, publisher, distributor, manufacturer |
UMP, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2020 |
| 264 #4 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
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| Place of production, publication, distribution, manufacture |
© 2020 |
| 300 ## - PHYSICAL DESCRIPTION |
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| Extent |
xiv, 88 pages : |
| Other physical details |
illustrations (some color) ; |
| Dimensions |
30 cm. + |
| Accompanying material |
1 CD ROM |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
unmediated |
| Source |
rdamedia |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
volume |
| Source |
rdacarrier |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
computer disc |
| Source |
rdacarrier |
| 347 ## - DIGITAL FILE CHARACTERISTICS |
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| Source |
rda |
| File type |
text file |
| Encoding format |
PDF |
| 500 ## - GENERAL NOTE |
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| General note |
Faculty of Electrical & Electronics Engineering Technology |
| 502 ## - DISSERTATION NOTE |
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| Dissertation note |
Thesis (Master of Science) -- Universiti Malaysia Pahang – 2020 |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
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| Bibliography, etc. note |
Includes bibliographical references |
| 520 3# - SUMMARY, ETC. |
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| Summary, etc. |
This research embarks on the investigations for modelling and control of a triple link inverted pendulum on two-wheeled system. This new model of triple links inverted pendulum on two-wheeled system is tested due to its highly non-linearity, more complex nature and more degree of freedom, as compared to the existing triple link model which is solely limited to ‘on cart’ systems. This model is proposed to represent a real hardware application for example mobile robot, walking robot and an airplane landing system. Moreover, this proposed model enables it to be more flexible so it can perform various task like walking, jumping and stair climbing task. The model is designed in SimWise 4D to overcome limitations of the linearized mathematical model, whereby it does not represent the actual system and is unable to retain the model's complexity. This modelling technique also allow provides visualization for user to evaluate the performance of the system. The completed model system is further incorporated with Matlab/Simulink for analysis, control design and evaluation purposes. The Interval Type-2 Fuzzy Logic Control (IT2FLC) approach is implemented as the control strategy for system stabilization in an upright position and disturbance rejection during static and linear motions (forward and backward). Without a specific method introduced to determine the optimal values of input and output control gains, as well as the IT2FLC control parameters, optimization algorithm has been applied to enhance the system's performance in term of stability and disturbance rejection. Two optimization algorithms are presented in this work which are Spiral Dynamic Algorithm (SDA) and Particle Swarm Optimization (PSO). These two algorithms are chosen due to the advantages and the capability to find the globa optima. The developed control approaches are then tested and evaluated within simulation exercises in SimWise 4D for visualization purposes. With this, the first and second links have shown better angular position error by 9.3% and 28.4% respectively through the Particle Swarm Optimization (PSO), which proven its superiority as compared to the Spiral Dynamic Algorithm (SDA). Moreover, the proposed controller has outperformed SDA in maximum disturbance rejection by 3% and 16% with disturbance being applied on Link 2 and Link 3 separately. Promising results obtained have further demonstrated the system's potential to maintain stability in an upright position under a variety of conditions. Therefore, the system and control strategy proposed within this study has demonstrated their practicality in real-time applications, including the range of mobile robots with extensive functionality. |
| 610 20 - SUBJECT ADDED ENTRY--CORPORATE NAME |
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| Corporate name or jurisdiction name as entry element |
Faculty of Electrical & Electronics Engineering Technology |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Universities and colleges |
| General subdivision |
Dissertations |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
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| Topical term or geographic name entry element |
Theses |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
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| Source of classification or shelving scheme |
Library of Congress Classification |
| Koha item type |
Thesis |