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Inverted pendulum is one example of non linear system that is naturally unstable. In this final project, a technique called fuzzy logic control will be used to maintain stability of this system. Fuzzy logic is a simple model that doesn’t involve complicated computations and the computing proc...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/8146 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Inverted pendulum is one example of non linear system that is naturally unstable. In this final project, a technique called fuzzy logic control will be used to maintain stability of this system. Fuzzy logic is a simple model that doesn’t involve complicated computations and the computing process can be done in real time. In this experiment different model of fuzzy logic control will be tested in software simulation to assure that the pendulum will be stabilized in its inverted position. The model that will be tested are the system with 2 variables (theta and theta_dot) and the system with 4 variables (theta, theta_dot, x, and x_dot). After obtaining the best model from the simulation then an experiment with hardware will be conducted. Hardware system for inverted pendulum will be built using: a linear actuator as a cart that can be moved horizontally, optical encoder as motion and angle sensor, H-Bridge schematic for controlling the force and the direction of the motor, and four microcontrollers for stabilizing the overall system. FuzzyTech software will be used for designing and implementing fuzzy logic in the hardware. |
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