Study of Inverted Pendulum Robot Using Fuzzy Servo Control Method | Zendy

Dazhong Wang | Zendy; Shujing Wu | Zendy; Liqiang Zhang | Zendy; Shigenori Okubo | Zendy

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Study of Inverted Pendulum Robot Using Fuzzy Servo Control Method

Author(s) -

Dazhong Wang,

Shujing Wu,

Liqiang Zhang,

Shigenori Okubo

Publication year - 2012

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/50982

Subject(s) - inverted pendulum , control theory (sociology) , computer science , robot , double inverted pendulum , fuzzy logic , position (finance) , nonlinear system , fuzzy control system , control (management) , artificial intelligence , physics , finance , quantum mechanics , economics

The inverted pendulum robot is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Inverted pendulum robot is suitable to use for investigation and verification of various control methods for dynamic systems. Maintaining an equilibrium position of the pendulum pointing up is a challenge as this equilibrium position is unstable. As the inverted pendulum robot system is nonlinear it is well-suited to be controlled by fuzzy logic. In this paper, Lagrange method has been applied to develop the mathematical model of the system. The objective of the simulation to be shown using the fuzzy control method can stabilize the nonlinear system of inverted pendulum robot

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