Inverted pendulum controlled through fuzzy logic

Author

Tirian, Gelu-Ovidiu ; Prostean, Octavian ; Filip, Ioan ; Rat, Cezara

Author_Institution

Dept. of Electr. Eng. & Ind. Inf., Politeh. Univ. Timisoara, Hunedoara, Romania

fYear

2015

Firstpage

85

Lastpage

90

Abstract

This paper aims at presenting how the RT 124 assembly developed by GUNT can be used in order to implement a fuzzy controller for a physical system consisting of an inverted pendulum mounted on a trolley. The model is a non-linear, one-dimensional, unstable MISO system with high demands consisting of real-time control, being intended for control using fuzzy logic. The paper goal is to create a fuzzy control system for maintaining the reverse pendulum in upright position with real-time control of the vehicle´s position.

Keywords

fuzzy control; nonlinear systems; pendulums; position control; road vehicles; trolleys; GUNT; RT 124 assembly; fuzzy control system; fuzzy controller; fuzzy logic; inverted pendulum control; nonlinear one-dimensional unstable MISO system; physical system; real-time control; real-time vehicle position control; reverse pendulum; trolley; Angular velocity; Encoding; Fuzzy logic; Informatics; Microcontrollers; Potentiometers; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Computational Intelligence and Informatics (SACI), 2015 IEEE 10th Jubilee International Symposium on

Conference_Location

Timisoara

Type

conf

DOI

10.1109/SACI.2015.7208175

Filename

7208175