ROBOTICA & MANAGEMENT - Vol. 23, No. 2, December 2018, pp. 16-20

Fuzzy Controller for Rotary Inverted Pendulum

Thi Thanh Hoang Le *, Anh Khoa Vo *, Thien Van Nguyen **, Van Khanh Doan **, Duc Ha Vu ***, Manh Son Tran *, Van Dong Hai Nguyen *

* Ho Chi Minh City University of Technology and Education (HCMUTE)
Vo Van Ngan Street, 01, Ho Chi Minh City, Vietnam
** “Politehnica” University of Bucharest (UPB)
Splaiul Independenţei nr. 313, Sector 6, Bucharest, Romania
*** Sao Do University
No. 24, Sao Do district, Chi Linh Town, Hai Duong Province, Vietnam

 Fuzzy controller is a part of intelligent control. This classical method is easily designed and used. Fuzzy algorithm has been proved to be suitable for various under-actuated models. In this article, authors verify this algorithm. Rule table is created from experience of experts and controller parameters is chosen by trial and error test from observing real response. In this paper, the algorithm is applied to stabilize rotary inverted pendulum which has high nonlinear properties. By Takagi-Sugeno method in MATLAB software, rule table concludes of 81 rules. These rules are established by experience of operator. The paper presents simulation and experimental results and shows that the model is stable. Moreover, the process of control parameters is also concerned in experiment.
Keywords: Fuzzy Controller, Rotary Inverted Pendulum, Takegi-Sugeno, under-actuated, intelligent control.

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