Real-time controlling of inverted pendulum by fuzzy logic

Author

Liu, Yanmei ; Chen, Zhen ; Xue, Dingyu ; Xu, Xinhe

Author_Institution

Dept. of Autom., Shenyang Inst. of Aeronaut. Eng., Shenyang, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

1180

Lastpage

1183

Abstract

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.

Keywords

control system synthesis; fuzzy control; mathematics computing; multivariable control systems; nonlinear control systems; pendulums; Matlab-Simulink environment; fuzzy logic control; hardware in loop simulation system; inverted pendulum mathematical model; multivariable system; real-time control; strong coupling system; unstable nonlinear system; Automation; Control systems; Equations; Fuzzy control; Fuzzy logic; Hardware; Mathematical model; Nonlinear control systems; Real time systems; Software prototyping; inverted pendulum; mathematical model fuzzy control; real-time;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262618

Filename

5262618