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http://dx.doi.org/10.5391/JKIIS.2003.13.2.137

Fuzzy Control and Implementation of a 3-Dimensional Inverted Pendulum System  

Shin, Ho-Sun (삼성중공업 디지탈사업팀)
Chu, Jun-Uk (재활공학연구소 인체공학팀)
Lee, Seung-Ha (경북대학교 전자전기컴퓨터학부)
Lee, Yun-Jung (경북대학교 전자전기컴퓨터학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.13, no.2, 2003 , pp. 137-147 More about this Journal
Abstract
The fuzzy control and implementation of a new three-dimensional(3-D) inverted pendulum system are addressed. In comparison with conventional 1-D and 2-D systems, the 3-D inverted pendulum system is a proper benchmark system to simulate human's control action which includes the up and down motion to stabilize an inverted pendulum. To investigate the characteristics of the 3-D inverted pendulum system and to design of a fuzzy controller, we derive dynamic equations of the mechanism including a 3-axis cartesian robot and an inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of an inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot and the constrained workspace are taken into account. The performance of the proposed system is proved by experimental results using a developed PC-based Multi-Motion Control(MMC) board.
Keywords
Fuzzy control; 3-D inverted pendulum; 3-axis cartesian robot; Redundancy;
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