Real-time controlling of inverted pendulum by fuzzy logic

Inverted pendulum is a typical multivariable, nonlinear, strong-coupling, instable system. The basic aim of our work was to balance a real pendulum in the position in center of course. For this purpose we used fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environ...

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Bibliographic Details
Published in2009 IEEE International Conference on Automation and Logistics pp. 1180 - 1183
Main Authors Yanmei Liu, Zhen Chen, Dingyu Xue, Xinhe Xu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2009
Subjects
Automation
Control systems
Equations
Fuzzy control
Fuzzy logic
Hardware
inverted pendulum
Mathematical model
mathematical model fuzzy control
Nonlinear control systems
Real time systems
real-time
Software prototyping
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ISBN9781424447947
1424447941
ISSN2161-8151
DOI10.1109/ICAL.2009.5262618

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Summary:Inverted pendulum is a typical multivariable, nonlinear, strong-coupling, instable system. The basic aim of our work was to balance a real pendulum in the position in center of course. For this purpose we used fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment. In this paper, the inverted pendulum mathematical model is built. MATLAB based Hardware in Loop simulation system is designed. A novel expert fuzzy control scheme was proposed. The proposed control scheme was implemented in Matlab and showed good performance in the real-time fuzzy control of the inverted pendulum. The results of simulation and experiment indicated that the control method has good control ability.
ISBN:9781424447947
1424447941
ISSN:2161-8151
DOI:10.1109/ICAL.2009.5262618