Design of a Decoupling Fuzzy Control Scheme for Omnidirectional Inverted Pendulum Real-World Control

Abstract

In this study, an omnidirectional inverted pendulum (ODIP) is controlled based on a dual Takagi-Sugeno (TS) fuzzy control scheme. The ODIP is a handmade system. It contains two subsystems. The lower mechanism system includes a brushless rim motor, a system platform, batteries, and an encoder. The upper mechanism system is mainly composed of a circuit system, a motor fixed platform, a motor, and a flywheel. The proposed controller combines two fuzzy control approaches for ODIP system control with disturbances and uncertainties. The core of the ODIP operating system is an embedded controller, which executes real-world control processes. Moreover, to address the coupling problem, the shafts of the two motors are oriented in orthogonal directions. Then, the two fuzzy controllers can be designed independently without coupling. In the proposed controller, the Takagi-Sugeno fuzzy model is adopted for fuzzy modeling of the ODIP. The conception of parallel distributed compensation (PDC) is utilized to develop fuzzy control from TS fuzzy models. The format of linear matrix inequalities (LMIs) can formulate sufficient conditions. The main contributions of this study are (1) the implementation of an ODIP and (2) the application of the proposed dual Takagi-Sugeno (TS) fuzzy control scheme for real-time control of the ODIP. Finally, the efficiency of the proposed control scheme is illustrated by the experimental results presented in this study.

Keywords

• Omnidirectional inverted pendulum
• TS~fuzzy control scheme
• parallel distributed compensation
• linear matrix inequality
• Lyapunov function
• embedded controller