Abstract
The inverted pendulum robot is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Inverted pendulum robot is suitable to use for investigation and verification of various control methods for dynamic systems. Maintaining an equilibrium position of the pendulum pointing up is a challenge as this equilibrium position is unstable. As the inverted pendulum robot system is nonlinear it is well-suited to be controlled by fuzzy logic. In this paper, Lagrange method has been applied to develop the mathematical model of the system. The objective of the simulation to be shown using the fuzzy control method can stabilize the nonlinear system of inverted pendulum robot.
Highlights
In recent years, the researchers wish to simulate human stance on the machine
Inverted pendulum robot is the abstract model of many control problems which the gravity center is upper and the fulcrum is lower and it is unstable object
[16] presented a hybrid architecture, which combines Type‐1 or Type‐2 fuzzy logic system (FLS) and genetic algorithms (GAs) for the optimization of the membership function (MF) parameters of FLS, in order to solve to the output regulation problem of a servomechanism with nonlinear backlash
Summary
The researchers wish to simulate human stance on the machine. In this paper, the model is constructed based on purely inverted pendulum dynamics and on a movable supportive base. [16] presented a hybrid architecture, which combines Type‐1 or Type‐2 fuzzy logic system (FLS) and genetic algorithms (GAs) for the optimization of the membership function (MF) parameters of FLS, in order to solve to the output regulation problem of a servomechanism with nonlinear backlash. In this approach, the fuzzy rule base is predesigned by experts of this problem. The objective of the simulation to be shown using the fuzzy control method can stabilize the nonlinear system of inverted pendulum robot.
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