Stabilization of Inertia Wheel Inverted Pendulum Using Fuzzy-Based Hybrid Control

2019 International Conference on Machine Learning and Cybernetics (ICMLC) Pub Date : 2019-07-01 DOI:10.1109/ICMLC48188.2019.8949281

Bo-Rui Chen, Chun-Fei Hsu, Tsu-Tian Lee

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Abstract

It is known that the inertia wheel inverted pendulum (IWIP) is a nonlinear underactuated system. Since the unavoidable friction or unclear interference of the IWIP system, designing a controller for the IWIP is a challenging task. In this paper, a fuzzy-based hybrid control (FBHC) is proposed to make the IWIP system can be stably balanced around the upright position. The FBHC system is comprised of a feedback linearization controller, a fuzzy logic controller and a speed compensated controller. The feedback linearization controller with a fuzzy logic controller can control the priority parameter at the non-actuated joint; however, it does not ensure the control of the inertia wheel speed. The speed compensated controller is designed to stabilize the speed of the inertia wheel once the body angle is stable. Thus, the IWIP system can be stably balanced around the upright position and the disk speed is gradually reduced. Finally, the experimental results are verified that the proposed FBHC can achieve a good dynamic balance effect for the IWIP system, even when there is an external force to push the IWIP system.

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基于模糊混合控制的惯性轮倒立摆镇定

惯性轮倒立摆是一个非线性欠驱动系统。由于IWIP系统存在不可避免的摩擦或不明确的干扰，因此设计IWIP控制器是一项具有挑战性的任务。本文提出了一种基于模糊的混合控制(FBHC)，使IWIP系统能够在垂直位置稳定平衡。FBHC系统由反馈线性化控制器、模糊控制器和速度补偿控制器组成。带模糊控制器的反馈线性化控制器可以控制非驱动关节处的优先级参数;但是，它不能保证对惯性轮速的控制。速度补偿控制器的设计是为了在车身角度稳定的情况下稳定惯性轮的速度。因此，IWIP系统可以在直立位置周围稳定平衡，磁盘速度逐渐降低。最后，实验结果验证了所提出的FBHC在有外力推动IWIP系统的情况下，仍能取得良好的动态平衡效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 International Conference on Machine Learning and Cybernetics (ICMLC)

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