Authors:
Alan Hood
1
and
Umut Avci
2
Affiliations:
1
University of Abertay Dundee, United Kingdom
;
2
Izmir University of Economics, Turkey
Keyword(s):
Inverted pendulum, Fuzzy Control, Non-linear Systems.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Computational Intelligence
;
Fuzzy Control
;
Fuzzy Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Soft Computing
Abstract:
This paper offers alternative solutions to existing problems in inverted pendulum designs. Three main problems can be listed as limited track length, hardware complexity and inappropriate control algorithm usage. Circularly moving cart was proposed to provide unlimited track length. In order to reduce the hardware complexity, the system was controlled by a microcontroller. Finally, fuzzy control was used for the control algorithm because of its efficiency, robustness and simplicity. Efficiency of the system is presented by carrying out experiments on developed inverted pendulum control system.