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An energy-compensated fuzzy swing-up and balance control is investigated for the planetary-gear-type inverted pendulum (PIP) in this paper. The proposed control scheme consists of a fuzzy swing-up controller (FSC), a fuzzy sliding balance controller (FSBC), and a fuzzy compensation mechanism. The PIP with the designed FSC can upswing the pendulum quickly and have the controlled system be stable in the sense of approaching the desired system energy. The pendulum of PIP system can be stably balanced at the upright position with the presented FSBC, where the chattering effect is significantly eliminated. With the proposed compensation mechanism, the overaccumulated upswing energy can be effectively compensated such that the influence of disturbance can be overcome. The simulation results are included to indicate the effectiveness of the provided controller. Moreover, based on an embedded control kernel, an experimental setup for the PIP control system is built up. It shows that the real-time experiment results empirically support the promising performance of desire.
Date of Publication: Sept. 2009