Stabilization of a Mathematical Pendulum with Base on Wheel with Fuzzy Control Algorithm

Abstract

The article describes the problem of stabilizing upper equilibrium for one section inverted pendulum on the wheel. The pendulum is located on the horizontal plane, the external forces act on it. The mechanical motion of the pendulum on the wheel is investigated. The mathematical model is built. Derivation of the equations of motion of the system is produced. The paper describes the used methods for the processing of fuzzy rules. The research considers the problem of computer simulation of the mechanism using а software package for modeling physics. The final program is described, that visualizes the mechanism, allows changing the input system parameters, gives an opportunity to create and vary external perturbations. The problem of control model with а system of fuzzy rules is presented. The used system of rules is shown; it allows stabilizing the upper equilibrium of pendulum. The article considers the analysis of the received system for controlling the model. The special case is studied: system is similar to the model of the raised up human hand.