Design and implementation of dynamic weighted fuzzy sliding-mode controller for an FPGA-based inverted pendulum car

Jeng Hann Li, T. H.S. Li, Meng Che Tsai, Sheng Hsiung Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents the fuzzy logic control (FLC) design with the FPGA chip and the complete control system implementation of the inverted pendulum car (IPC). At first, a dynamic weighted fuzzy sliding-mode control (DWFSMC) scheme is proposed to upright the pole of the IPC. The simulation results show the effectiveness of the developed control algorithm. The architecture of the DWFSMC is integrated on an Altera FPGA chip employing the fuzzy singleton inference machine with a membership function generator. The proposed FPGA chip mainly includes four parts: digital filter, 4x decoding circuit, DWFSMC, and pulse width modulation (PWM) fitness module. A nonlinear plant of IPC system is designed and established to examine the performances of the proposed FLC chip. The setup of the IPC is also addressed. The real-time experiments demonstrate the proposed DWFSMC can successfully balance the pole of the FPGA-based IPC.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages628-633
Number of pages6
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03-07-2003-07-24

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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