Implementation of a ball inverted pendulum with omnidirectional moving ability using a robust fuzzy control strategy

Area of Science:

• Robotics and Control Systems
• Fuzzy Logic Control
• Mechanical Engineering

Background:

• The ball inverted pendulum (BIP) system presents a classic control challenge due to its inherent instability.
• Real-world BIP systems often involve unknown uncertainties, complicating traditional control design.
• Existing fuzzy control methods can suffer from approximation errors and complex design procedures.

Purpose of the Study:

• To propose a robust fuzzy controller (RFC) for the ball inverted pendulum (BIP) system.
• To minimize approximation errors inherent in trial-and-error fuzzy control design.
• To achieve asymptotic stability control for both the angle and position of the BIP system, even with unknown uncertainties.

Main Methods:

• A Mamdani-type fuzzy controller is combined with a compensated control technique.
• A decoupled technique divides the BIP system into two subsystems for simplified control.
• The Lyapunov stability theorem is employed to guarantee the stability of the proposed RFC.

Main Results:

• The proposed RFC effectively minimizes approximation errors in fuzzy control design.
• The decoupled approach simplifies achieving asymptotic stability for BIP angle and position.
• The controller enables unconstrained movement of the BIP platform.
• Simulations in MATLAB/ADAMS and real-time implementation confirm the RFC's effectiveness.

Conclusions:

• The robust fuzzy controller (RFC) offers a stable and effective solution for controlling the ball inverted pendulum (BIP) system.
• The integration of Mamdani-type fuzzy logic and compensated control, along with a decoupled design, addresses real-world uncertainties.
• The RFC demonstrates superior performance and robustness, validated through simulations and practical implementation.