International Conference on Advances in Automation and Robotics - AAR 2013
Author(s) : BUDIMAN AZZALI BASIR , MOHAMMAD NOH AHMAD
This paper presents the results of a fuzzy model based controller design via PDC type Takagi-Sugeno (T-S) of cart-ball system. The control aim is to balance the ball at arc center position at any given position of the cart. A fuzzy model based controller is designed based on T-S fuzzy controller via parallel distribution control (PDC) to achieve the control objective. The nonlinear mathematical model for the cart-ball system in this paperis represents by T-S fuzzy models and using PDC type controller as the control law.Based on fuzzy Lyapunov function approach, the stability condition of open loop fuzzy system and the stabilization of closed loop fuzzy system are obtained by solving a set linear matrix inequalities (LMIs). The effectiveness and the feasibility of the PDC type Takagi-Sugeno (T-S) fuzzy control is demonstrated and studied using MATLAB/Simulink software.