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Automation Engineering Fuzzy Control Carrier Vehicle with Inverted Pendulum

Automation Engineering Fuzzy Control Carrier Vehicle with Inverted Pendulum

Code: AET0011

Automation Engineering Fuzzy Control Carrier Vehicle with Inverted Pendulum.

Learning Objectives / Experiments

- design of an demanding fuzzy control for an

  unstable, coupled multivariable system

  (fundamentals from the experiments with the

  units  are required)

- superposition of pendulum stabilisation and

  position control of the vehicle 

- comparison of different controller structures

- optimisation of rule base

- development of a strategy to decide what to do in

  case of conflicting requirements

- demanding optimisation of control response

[1] fine tuning of a fuzzy control system with strong coupling and use of microcontroller technology

[2] inverted rod pendulum with vehicle as mechanical multivariable system, MISO (Multiple Inputs - Single Output)

[3] switchable between fuzzy and manual mode

[4] motor to drive the vehicle as actuator

[5] microcontroller with USB port as fuzzy controller

6] FSH-Shell development software for designing and optimising the fuzzy controller

[7] rotary potentiometer as pendulum inclination sensor

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