Implementation of a ball inverted pendulum with omnidirectional moving ability using a robust fuzzy control strategy

Chih Hui Chiu, Wen June Wang

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


A robust fuzzy controller (RFC) is proposed for a ball inverted pendulum (BIP) system control problem. A Mamdani-type fuzzy controller and a compensated control technique are combined in the proposed control system. This controller is used for real-world control of a BIP with unknown system uncertainties. Using this method, the approximation error caused by the trial-and-error fuzzy control design procedure is minimized. Moreover, the decoupled technique provides a simple method for achieving asymptotic stability control for angle and position of a BIP control system. The concept of this approach is to decouple the entire system into two subsystems. Next, the primary subsystem combines the information provided by the secondary subsystem. And then a control force is generated to drive both subsystems toward their targets, respectively. Thus, the platform can move to any position without constraints. The stability of RFC, which is based on the Lyapunov stability theorem, is guaranteed. Furthermore, to verify the effectiveness of the control algorithm, several numerical simulations and dynamic simulation in the automatic dynamic analysis of mechanical systems (ADAMS) environment with MATLAB are implemented. Finally, the efficiency of the RFC is verified with real-time implementation of the BIP.

Original languageEnglish
Pages (from-to)287-298
Number of pages12
JournalISA Transactions
StatePublished - Mar 2019


  • Automatic dynamic analysis of mechanical systems
  • Ball inverted pendulum
  • Compensated control
  • Lyapunov function
  • Mamdani-type fuzzy controller


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