Fuzzy control of a real time inverted pendulum system


KİZİR S. , BİNGÜL Z. , OYSU C.

12th International Conference on Knowledge-Based Intelligent Information and Engineering Systems, Zagreb, Hırvatistan, 3 - 05 Eylül 2008, cilt.5177, ss.674-681 identifier identifier

  • Cilt numarası: 5177
  • Doi Numarası: 10.1007/978-3-540-85563-7-85
  • Basıldığı Şehir: Zagreb
  • Basıldığı Ülke: Hırvatistan
  • Sayfa Sayıları: ss.674-681

Özet

In this study, a real-time control of the cart-pole inverted pendulum system was developed using fuzzy logic controller. Swing-up and stabilization of the inverted pendulum were implemented directly in fuzzy logic controller. The fuzzy logic controller designed in the Matlab-Simulink environment was embedded in a dSPACE DS1103 DSP controller board. Swing-up algorithm brings the pendulum near to its inverted position in 10 seconds from downward position. In order to test the robustness of the fuzzy logic controller internal (changing model parameters) and external disturbances (applying external forces) were applied on the inverted pendulum. The inverted pendulum system was shown to be robust to the external and internal disturbances. The maximum errors of the pendulum angle to the impulse input were between 1.89 degrees and 4.6449 degrees in the robustness tests.