Inverted Pendulum Control with Fuzzy Logic

A dsPIC3F4011 microcontroller controlled inverted pendulum balancing robot. Uses mamdani fuzzy inference system with 2 inputs, 1 output and 49 rules

Category:

Education

Tags:

• inverted
• pendulum
• fuzzy
• logic
• optical
• encoder
• microcontroller

[mahchymk93]

Failure.

[philsenogun]

@mahchymk93 Thank you very much sir/ma

[locomondossable]

nc vid! My guestion is did u use just fuzzy cintrol or a hybrid fuzzy+pid?

[philsenogun]

@locomondossable just fuzzy logic. nothing else

[roviedo]

what did you use to control your system???

do you think u could send me what rules you used or your source code??

[philsenogun]

I used mamdani fuzzy inference system. I used the angle and angular velocity of the pendulum as input to the controller and the output is a measure of the amount of voltage supplied to the motor. The inputs and output have 7 membership functions each and a total of 49 rules where developed to control the pendulum. You can read about fuzzy logic if u dont know abt it and then I can give more helps if needed

[mansimran100]

hey can u tell me about the motor specification ??? please reply soon

[roviedo]

a im reacently studying fuzzy logics, only theory put i havent put it into practical use.i am familiar with both mamdani and sugeno.a specific question to your sistem would be how are you geting your angular velocity, what type of sensor is it? having that , i made an absolut incoder to have the exact position of my pendulum. mine is just an opamp configuration of the rotatory version on construction still, do you have an email where i could send you any questions about your proyect??