Fuzzy Logic Control of a Ball on Sphere System

摘要

The scope of this paper is to present a fuzzy logic control of a class of multi-input multioutput (MIMO) nonlinear systems called "system of ball on a sphere," such an inherently nonlinear, unstable, and underactuated system, considered truly to be two independent ball and wheel systems around its equilibrium point. In this work, Sugeno method is investigated as a fuzzy controller method, so it works in a good state with optimization and adaptive techniques, which makes it very attractive in control problems, particularly for such nonlinear dynamic systems. The systems dynamic is described and the equations are illustrated. The outputs are shown in different figures so as to be compared. Finally, these simulation results show the exactness of the controller's performance.