Implementation of a Non-linear Fuzzy Takagi-Sugeno Controller Applied to a Mobile Inverted Pendulum

Abstract

Applications based on inverted pendulum principle, have proliferated in recent years, surveillance system such as two-wheeled vehicles or manipulators attached to robotics legs in humanoids robots are some examples. Even though the control of inverted pendulum has been deeply studied in the academic community for decades, there are few implementations with a Fuzzy Takagi Sugeno model for overlapped membership functions joint to Linear Quadratic Regulator, because just in [11], this kind of generalized T-S modeling was addressed. This paper presents the implementation of a nonlinear Fuzzy Takagi-Sugeno control with overlapped membership functions applied to a mobile inverted pendulum mechanism and its comparison against LQR in terms of state space behavior and robustness.