FUZZY LOGIC CONTROLLER DESIGN BASED ON SUGENO INFERENCE METHOD FOR NONLINEAR INVERTED PENDULUM DYNAMICAL SYSTEM


Gani A., Kececioglu O. F. , Acikgoz H., Sekkeli M.

SIGMA JOURNAL OF ENGINEERING AND NATURAL SCIENCES-SIGMA MUHENDISLIK VE FEN BILIMLERI DERGISI, vol.8, no.1, pp.19-30, 2017 (Peer-Reviewed Journal) identifier

  • Publication Type: Article / Article
  • Volume: 8 Issue: 1
  • Publication Date: 2017
  • Journal Name: SIGMA JOURNAL OF ENGINEERING AND NATURAL SCIENCES-SIGMA MUHENDISLIK VE FEN BILIMLERI DERGISI
  • Journal Indexes: Emerging Sources Citation Index, Academic Search Premier, Directory of Open Access Journals
  • Page Numbers: pp.19-30
  • Keywords: Sugeno inference method, fuzzy logic controller, inverted pendulum

Abstract

Fuzzy logic is studied in many multidisciplinary areas such as economy, business and engineering. The design of a fuzzy controller does not require a complicated mathematical model. It only requires a set of rules to form the rule table. Basically all of the rules in the rule table are based on the expert's experience which actually comes from his/her understanding operation of the system. In particular, fuzzy logic controller can be used to control for a nonlinear systems, using rules rather than mathematical model. The sugeno fuzzy inference method provides a more systematic approach to the design of fuzzy logic controller. It works better dynamic performance in multi-state variables (three or more variables). In this study, the aim of control system for the four state variables (angular position of inverted pendulum, angular velocity of inverted pendulum, cart position and cart velocity) is to simultaneously balance the inverted pendulum and place the cart in a desired position with fuzzy logic controller that contains sugeno inference method.