The Investigation of Performances of Different Proportional-Derivative Control Based Fuzzy Membership Functions in Balancing the Inverted Pendulum (IP) System on Cart
Erciyes Üniversitesi Fen Bilimleri Enstitüsü Dergisi, cilt.38, sa.3, ss.483-499, 2022 (TRDizin)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 38 Sayı: 3
- Basım Tarihi: 2022
- Dergi Adı: Erciyes Üniversitesi Fen Bilimleri Enstitüsü Dergisi
- Derginin Tarandığı İndeksler: TR DİZİN (ULAKBİM)
- Sayfa Sayıları: ss.483-499
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Kayseri Üniversitesi Adresli: Evet
Özet
The present study aims to balance an inverted pendulum (IP) system on cart using fuzzy controllers with different membership functions (MFs) based on proportional-derivative control. To this end, the cart was designed to track an intended trajectory in a horizontal (linear) position, while the IP was balanced in a vertical (angular) position. The designed controller system was simulated in Matlab/Simulink, and performance rates were measured for the IP’s vertical position and the cart’s horizontal position. The obtained simulation results demonstrated that triangular fuzzy membership function (MF) improved rise time, settling time and overshoot for the IP’s vertical position by 8%, 4.35% and 7.7%, respectively, compared to gaussian fuzzy MF. Similarly, for the cart’s horizontal position, triangular fuzzy MF improved rise time, settling time and overshoot by 3.8%, 3 and 30%, respectively, compared to gaussian fuzzy MF. When all performance rates are analyzed in terms of the IP’s vertical position and the cart’s horizontal position, it was found that triangular fuzzy MF displayed a more satisfactory performance compared to Gaussian fuzzy MF.