Loading…

Fuzzy coordinator compensation for balancing control of cart–seesaw system

In contrast with fully controllable systems, a super articulated mechanical system (SAMS) is a controlled underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. The control of the cart–seesaw system is especially difficult...

Full description

Saved in:
Bibliographic Details
Published in:Journal of sound and vibration 2011-12, Vol.330 (26), p.6296-6310
Main Authors: Lin, J., Guo, S.-Y., Chang, Julian
Format: Article
Language:English
Subjects:
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In contrast with fully controllable systems, a super articulated mechanical system (SAMS) is a controlled underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. The control of the cart–seesaw system is especially difficult since it is an underactuated mechanism (three degrees of freedom and only two inputs). This research develops a balancing approach for a novel SAMS model, called the cart–seesaw system, using fuzzy logic and 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 presentation of the fuzzy balancing controller is not considerably affected by changes in the environmental parameters, which demonstrates 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 indicate the usefulness and robustness of the proposed fuzzy control methodology. Furthermore, the proposed software/hardware platform can be beneficial for standardizing laboratory equipment and developing amusement apparatus. ► It is using fuzzy rule with coordinator to drive the sliding carts and keep the seesaw to equilibrium. ► Performance of FBC is not significantly affected by changes the environmental parameters. ► It shows the fuzzy controller in minimizing the seesaw tilt angle even by loading variation. ► Results indicate the effectiveness and robustness of the proposed control methodology.
ISSN:0022-460X
1095-8568
DOI:10.1016/j.jsv.2011.08.003