Application of Underactuated mechanism motor control in ball and beam system

Motor control in ball and beam system consists of a beam structure which can be constructed with server electric motor to simulate the Underactuated mechanism system of robot. It can be contacted with a control theory and robot operation in balance behavior. It is well-known that robot structure in 1-D space with a motor to control system balance, which a simple ball and beam system to observe open-loop performance is unstable. When the motor torque and current parameter record from control broad, it will control the beam in balance situation to restrict unstable condition if even it is to be very nearly horizontal. In order to stabilize the ball in beam system, measurement of the ball position and to regulate the beam should be adjusted by the motor device. The control voltage signal goes to the DC motor then the torque generated from the motor drives to regulate the beam to rotate a desired angle. Thus, the ball can be located at the desired position, which is used to simulate the robot behavior system. This study presents a new reduction approach to simplify the type reduction procedure for an interval type-2 fuzzy sliding controller. It should be considered as a collection of a large number type-1 fuzzy set regulated by an interval type-2 fuzzy set. It is shown that a simplified type reduction approach can be used to a hybrid interval type-2 fuzzy sliding controller for a ball-and-beam system. By using the Extended-Karnik-Mendel (EKM) type reduction method, it is indicated that a better results and effectiveness of a hybrid interval type-2 fuzzy sliding controllers, in motor position, torque, current and voltage can be performed a faster position results, at least, reduction of 20%.