Balance Control of a Flywheel Inverted Pendulum by Fuzzy Logic Controller

Abstract

In this study, a flywheel inverted pendulum was modeled as simulation. The model controlled by fuzzy logic and PID controller for comparison. Fuzzy logic controllers were designed using triangular and Gaussian membership functions and various methods that are "and", "implication" and "aggregation". All gains from fuzzy logic controllers and PID were tuned by the trial-and-error method. The best performance was obtained by fuzzy logic controller that uses a triangular membership function and "prob/probor" functions. The results were evaluated in terms of three phenomena. In terms of Settling Time and Maximum Overshoot, Fuzzy Triangle MF with 0.15 s and 0 degrees, respectively, and PID and Fuzzy Triangle MF models with 0 degrees in terms of Steady-State error achieved the best success. In addition, the robustness of the control system was tested by applying two different types of disturbance inputs, random and impulse. The results show that fuzzy logic is a good alternative for balance control of a flywheel inverted pendulum, but PID has an acceptable performance.