Version 1
: Received: 7 December 2023 / Approved: 8 December 2023 / Online: 8 December 2023 (04:37:49 CET)
How to cite:
Enemegio, R.; Jurado, F.; Villanueva-Tavira, J. Experimental Evaluation of a Takagi-Sugeno Fuzzy Controller for an EV3 Ballbot System. Preprints2023, 2023120558. https://doi.org/10.20944/preprints202312.0558.v1
Enemegio, R.; Jurado, F.; Villanueva-Tavira, J. Experimental Evaluation of a Takagi-Sugeno Fuzzy Controller for an EV3 Ballbot System. Preprints 2023, 2023120558. https://doi.org/10.20944/preprints202312.0558.v1
Enemegio, R.; Jurado, F.; Villanueva-Tavira, J. Experimental Evaluation of a Takagi-Sugeno Fuzzy Controller for an EV3 Ballbot System. Preprints2023, 2023120558. https://doi.org/10.20944/preprints202312.0558.v1
APA Style
Enemegio, R., Jurado, F., & Villanueva-Tavira, J. (2023). Experimental Evaluation of a Takagi-Sugeno Fuzzy Controller for an EV3 Ballbot System. Preprints. https://doi.org/10.20944/preprints202312.0558.v1
Chicago/Turabian Style
Enemegio, R., Francisco Jurado and Jonathan Villanueva-Tavira. 2023 "Experimental Evaluation of a Takagi-Sugeno Fuzzy Controller for an EV3 Ballbot System" Preprints. https://doi.org/10.20944/preprints202312.0558.v1
Abstract
In this paper, experimental results about the performance of a Takagi-Sugeno Fuzzy Controller (TSFC) for an EV3 Ballbot Robotic System (EV3BRS) are reported. The physical configuration for the EV3BRS has the form of an inverted pendulum mounted on a ball. The EV3BRS is an underactuated robotic system with four outputs and two control torques. The Takagi-Sugeno Fuzzy Model (TSFM) design comes from linearization of the nonlinear model around two operation points near from the upright position of the EV3BRS's body. The Parallel Distributed Compensation (PDC) approach is used to the design of the TSFC. The Linear Matrix Inequalities (LMIs) approach is used to get the feedback gains for every local linear controller guaranteeing global asymptotically stability, via a more relaxed stability condition, of the overall fuzzy control system. Measurement and control data from and to the EV3BRS are transferred via telecontrol and telemetry.
Keywords
ballbot; linear matrix inequalities; parallel distributed compensation; Takagi-Sugeno fuzzy control; Takagi-Sugeno fuzzy model; telecontrol; telemetry; underactuated systems
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
