Thi-Thuy Hoang, Hoang-Phi-Khoi Nguyen, Tuan Nguyen, Van-Dong-Hai Nguyen *, Diep-Thuy-Duong Le, Xuan-Chinh Trinh, Ngoc-Phu Nguyen, Phan-Phuc-Long Nguyen
Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan Str., No. 01, Ho ChiMinh city, Vietnam
* Corresponding author. E-mail: hainvd@hcmute.edu.vn
Robotica & Management, Vol. 26, No. 2, pp. 03-08
DOI: https://doi.org/10.24193/rm.2021.2.1
Abstract: In this paper, we present a way to create fuzzy controller from LQR method by using ANFIS toolbox of Matlab. First, after proving the ability of stability of this SIMO system under LQR method in Matlab/Simulink, we create a fuzzy controller through ANFIS toolbox of Matlab. The data, which is used to train, is collected from responses of system under LQR controller. Also, we present a hardware platform of ball and beam system. Under this fuzzy controller, control quality of ball and beam is better than under LQR controller in both simulation and experiment.
Keywords: fuzzy, LQR, ball and beam, SIMO system.
References
[1] Carlos G. Bolivar-Vincenty, Gerson Beauchamp-Baez, Modelling the Ball-and-Beam System from Newtonian Mechanics and from Lagrange Methods, Twelfth LACCEI Latin American and Caribbean Conference for Engineering and Technology (LACCEI’2014) ”Excellence in Engineering To Enhance a Country’s Productivity”, Ecuador, July-2014.
[2] Amjad, Muhammad & Ishaque, Kashif & Abdullah, S. & Shareef, Zeeshan: „Fuzzy logic control of ball and beam system”, 2nd International Conference on Education Technology and Computer, Vol. 3, pp. 489-493, 2010.
[3] Tuan Nguyen: „Stabilizing ball and beam by fuzzy logic”, Master Thesis of Electrical Engineering, Ho Chi Minh University of Technology Education (HCMUTE), Vietnam, 2015.
[4] Sohail Iqbal, Nora Boumella and Juan Carlos Figueroa Garcia: „Fuzzy Control Systems: LMI-Based Design, Fuzzy Controllers – Recent Adavances in Theory and Apllications”, IntechOpen, 2012.
[5] Dang Ngoc Trung, Tran Thi Thanh Hai: „Researching and Applying Optimal LQR Control Method for Ball and Beam system”, Proceeding Confrence of Thai Nguyen University of technology, Vietnam, pp. 90-932014.
[6] S. K. Valluru, M. Singh and S. Singh: “Prototype design and analysis of controllers for one dimensional ball and beam system”, IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES), pp. 1-6, 2016.
[7] Max K. Gutierrez, David M. Choi, Hossein Jula: „Using genetic Algoritms to Optimize Control of a Ball-and-Beam System”, Green Energy and Smart Systems Conference (IGESSC), IEEE, 2020.
[8] Wei Wang: “ Control of a Ball and Beam System” , Master Thesis, University of Adelaide South Australia, 2005.