Inverted Pendulum Fault Tolerant Control Based on Fuzzy Backstepping Design and Anti-Control of Chaos

摘要

This study presents fault tolerant control of inverted pendulum via on-line fuzzy backstepping and anti-control of chaos. The inverted pendulum, as a mechatronics system, is used frequently in robotic applications and can be found in different forms. Based on Lyapunov stability theory for backstepping design, the nonlinear controller and some generic sufficient conditions for asymptotic control are attained. Also in this study, anti-control of chaos is applied to increase the fault tolerant of inverted pendulum. To achieve this goal, the chaos dynamic must be created in the inverted pendulum system. So, the inverted pendulum system has been synchronized to chaotic gyroscope system. In this study, control and anti-control concepts are applied to achieve the high quality performance of inverted pendulum system. It is tried to design a controller which is capable to satisfy the control and anti-control aims. The performances of the proposed control are examined in terms of fault tolerant capability. Finally the efficacy of the proposed methods are illustrated by simulations.