Fuzzy logic inverted pendulum

Ahmad Badrun Hisham , Abdul Rahim (2014) Fuzzy logic inverted pendulum. Project Report. UTeM. (Submitted)

Text FUZZY LOGIC INVERTED PENDULUM 24pages.pdf Download (554kB)

Abstract

Inverted Pendulum (IP) System is a device that uses a cylindrical rod that is usually made of aluminum and free swinging around on a fixed axis. This pivot mounted on a cart that can move in the horizontal direction. The rod is normally will tend to fall down from the top vertical position due to the instability in the control system. The goal of this project is to control and develop the hardware to stabilize the vertical position of the inverted pendulum system approach for purpose in the education tranning kit. The system consists of rotary variable resistance as input sensor that determines the angle variable for each movement of the pendulum. In order to maintain the pendulum in upright position of 900 degree, the motor horizontal position control via PWM will eventually become the response mechanism for the system. As an initial insight of the desired performance of Inverted Pendulum system, a simulation via MATLAB was done using the mathematical modely of the system. The inabilities for the Inverted Pendulum to maintain the upright position lead to the usage of the Fuzzy Logic controller onto the system. After that, the hardware development of the Inverted Pendulum system was done using selected materials. The performance of both, expected result from simulation and actual result were analysed. The performance of Inverted Pendulum has shown the reliability and accuracy of the pendulum in the upright position even though there was some error around 0.02% during the test performed.

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