"Designing a controller for balancing a robotic structure"

This article presents the design of a fuzzy controller for the balance of a robotic structure (inverted pendulum system). The methodology uses the fundamental concepts of fuzzy logic for the design of the controller of the Mamdani type, which is implemented on the non-linear model of the system and different perturbations are applied in order to evaluate the capabilities of the controller. It's simulated to obtain the behavior of the system with Matlab / Simulink. The fuzzy algorithm is recorded in the ATMega 328 microcontroller using the EFLL library, and it's implemented in the robotic structure so that it operates by switching the control signals depending on the region of operation and to verify its robustness and efficiency, perturbations are applied in the control signal. Finally the tests are carried out in the structure and the responses to different disturbances are shown.