Balancing control for pneumatic cart-seesaw system by fuzzy coordination methodology

Abstract

The objectives of the research are to develop a novel balancing approach for a novel SAMS model which is called cart-seesaw system. The investigation is using fuzzy logic rule incorporates fuzzy coordinator compensation to drive the sliding carts and keep the seesaw angle close to zero in the equilibrium state. Experimental results indicate that utilizing the proposed control methodology significantly enhances the performance. Moreover, the performance of fuzzy balancing controller (FBC) is not significantly affected by changes the environmental parameters, demonstrating the effectiveness of the fuzzy controller in minimizing the seesaw tilt angle in the time domain although the system is caused by unpredicted loading variation. Moreover, the experimental results are included to indicate the effectiveness and robustness of the proposed fuzzy control methodology. While this work is motivated by an exploration cart-seesaw balancing problem, then the results of this study can be applied to underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. Furthermore, development the proposed software/hardware platform can be beneficial for standardizing laboratory equipment, and the development of amusement apparatus.