Design and implementation of dynamic weighted fuzzy sliding-mode controller for an FPGA-based inverted pendulum car

This paper presents the fuzzy logic control (FLC) design with the FPGA chip and the complete control system implementation of the inverted pendulum car (IPC). At first, a dynamic weighted fuzzy sliding-mode control (DWFSMC) scheme is proposed to upright the pole of the IPC. The simulation results show the effectiveness of the developed control algorithm. The architecture of the DWFSMC is integrated on an Altera FPGA chip employing the fuzzy singleton inference machine with a membership function generator. The proposed FPGA chip mainly includes four parts: digital filter, 4× decoding circuit, DWFSMC, and pulse width modulation (PWM) fitness module. A nonlinear plant of IPC system is designed and established to examine the performances of the proposed FLC chip. The setup of the IPC is also addressed. The real-time experiments demonstrate the proposed DWFSMC can successfully balance the pole of the FPGA-based IPC.