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

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
發行者Institute of Electrical and Electronics Engineers Inc.
頁面628-633
頁數6
ISBN(電子)0780377591
DOIs
出版狀態Published - 2003
事件2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
持續時間: 2003 七月 202003 七月 24

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
1

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
國家/地區Japan
城市Kobe
期間03-07-2003-07-24

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦科學應用
  • 電氣與電子工程

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