A Method of Fuzzy Algorithm in Controlling Ball and Beam through Simulation and Experiment

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.

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