Design of a Decoupling Fuzzy Control Scheme for Omnidirectional Inverted Pendulum Real-World Control

In this study, an omnidirectional inverted pendulum (ODIP) is controlled based on a dual Takagi-Sugeno (TS) fuzzy control scheme. The ODIP handmade system. It contains two subsystems. lower mechanism system includes brushless rim motor, platform, batteries, and encoder. upper mainly composed of circuit system, motor fixed flywheel. proposed controller combines approaches for with disturbances uncertainties. core the operating embedded controller, which executes real-world processes. Moreover, to address coupling problem, shafts motors are oriented in orthogonal directions. Then, controllers can be designed independently without coupling. model adopted modeling ODIP. conception parallel distributed compensation (PDC) utilized develop from TS models. format linear matrix inequalities (LMIs) formulate sufficient conditions. main contributions study (1) implementation (2) application scheme real-time Finally, efficiency illustrated by experimental results presented study.