Fuzzy control of an underactuated pendulum-driven cart system
by Yang Liu; Hongnian Yu
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 4, No. 5/6, 2012

Abstract: This paper proposes a fuzzy control (FC) algorithm for a pendulum-driven cart (PDC) system. The PDC is a mechanism that represents a novel driving concept of ground mobile robot which only employs internal thrust and static friction. The control objective of the system is to drive the cart towards a desired direction by swinging the pendulum only. The proposed FC algorithm is designed based on the closed-loop control algorithm proposed in Yu et al. (2008a). Simulation results are presented to demonstrate the effectiveness of the proposed algorithm. A prototype of the PDC system developed by using the LEGO Mindstorms kit and the ROBOLAB Software is also presented in the paper. The experimental results demonstrate that the PDC system is realisable, and the proposed FC algorithm is simple and effective.

Online publication date: Sat, 30-Aug-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com