Two-Legged Self-Balancing System

 

 

 

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Fuzzy Inferrence System

Solution 1

The first solution used the classical inverted pendulum: 2 inputs, 1 output
Membership functions:
  • Inputs: Tilt in degrees, change of tilt
  • Output: motor duty cycle

 

P
Z
N
P
PB
P
Z
Z
P
Z
N
N
Z
N
NB

 

Solution 2 - Used for testing

The second solution is similar to fuzzy air conditioning systems: 1 input, 1 output
Membership functions:
  • Inputs: Tilt in degrees
  • Output: motor duty cycle

 

Sequence of events for the fuzzy inference system:

  1. Tilt is input in the overall controller layout

2. Goes into membership functions

3. Calls the rules

4. Rule in action

5. Output the motor duty cycle

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