NASA/TM-108535, Kissel, R.R. and Sutherland, W.T., Inverting the Pendulum Using Fuzzy Control (Center Director's Discretionary Fund Final Report-Project 93-02), Astrionics Laboratory, Science and Engineering Directorate, NASA Marshall Space Flight Center, AL 35812, May 1997, pp. 64, Format(s): PDF 886k |
A single pendulum was simulated in software and then built on a rotary base. A fuzzy controller was used to show its advantages as a nonlinear controller since bringing the pendulum inverted is extremely nonlinear. The controller was implemented in a Motorola 6811 microcontroller. A double pendulum was simulated and fuzzy control was used to hold it in a vertical position. The double pendulum was not built into hardware for lack of time. This project was for training and to show advantages of fuzzy control
| Keywords: | fuzzy control, inverted pendulum, nonlinear control, lagrange |
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| CASI Document ID Number: | 97N22494 |
| Subjects: | Mathmatical and Computer Sciences: Cybernetics, Artificial Intelligence and Robotics: Cybernetics and Bionics |
| ID Code: | 390 |
| Deposited On: | 03 July 2002 |