Stabilization of Inertia Wheel Inverted Pendulum Using Fuzzy-Based Hybrid Control

Abstract

It is known that the inertia wheel inverted pendulum (IWIP) is a nonlinear underactuated system. Since the unavoidable friction or unclear interference of the IWIP system, designing a controller for the IWIP is a challenging task. In this paper, a fuzzy-based hybrid control (FBHC) is proposed to make the IWIP system can be stably balanced around the upright position. The FBHC system is comprised of a feedback linearization controller, a fuzzy logic controller and a speed compensated controller. The feedback linearization controller with a fuzzy logic controller can control the priority parameter at the non-actuated joint; however, it does not ensure the control of the inertia wheel speed. The speed compensated controller is designed to stabilize the speed of the inertia wheel once the body angle is stable. Thus, the IWIP system can be stably balanced around the upright position and the disk speed is gradually reduced. Finally, the experimental results are verified that the proposed FBHC can achieve a good dynamic balance effect for the IWIP system, even when there is an external force to push the IWIP system.