Application of Fuzzy-ANFIS Controller for Ball on Wheel System

Abstract

The ball-on-wheel (BoW) is a nonlinear single input-multi output (SIMO) system consisting of a ball located on a wheel. The system’s challenge is to balance ball at the highest point on the wheel. In this paper, we propose a method of applying ANFIS toolbox in imitating a successful controller (in this case, it is PD controller). This process creates a similar fuzzy controller which controls well this system. Therefore, through this research, ANFIS toolbox shows the ability in imitating an expert‘s control law through collecting data of operations.

Keywords

• ball-on-wheel
• nonlinear
• simo system
• fuzzy controller
• anfis toolbox