ANFIS PD Plus I Control On Simscape Model of Nonlinear Physical System

Abstract

Robotic System is a hybrid technology involving Mechatronics systems and embedded systems, which interfaces with the real world in real time with real energy. The physical system taken into consideration is wheeled inverted pendulum robot, which is nonlinear and unstable in nature. The paper depicts the nonlinear model in Simscape to examine the real behavior of the Robotic Physical System and control through conventional controllers. The main goal is to control the cart’s desired position and stabilize the pendulum twisted in the upright position. An analysis is carried out to attain the stable inverted location with a standard feedback controller (PID), full state feedback controller LQR (Linear Quadratic Regulator), 2-PID controller method and ANFIS Controller. According to the simulation results, comparisons are made among the controllers. These explorations lead to understand the control aspects of Nonlinear Physical System.