Fuzzy Logic Control of an Inverted Pendulum and a 2-DOF Helicopter

Fuzzy Logic is a mathematical tool that has proven useful in controls applications, including controllers for aircraft, trains, and even commercial appliances. Its ability to utilize linguistic rules to provide an effective control action makes it an attractive option for useful situations. Due to its characteristic of being a universal approximator, given observability and controllability of the states, fuzzy controllers are capable of approximating any ideal non-linear mapping to any desired degree of accuracy. The goal of this effort, conducted within the framework, of an undergraduate independent research program, is to develop fuzzy controllers for two two-degree-of-freedom systems and investigate their robustness properties. The developed controllers were successfully implemented using Quanser hardware in the “Most Aero Labs” at the University of Cincinnati. The two experimental benchmarks included a Self-Erecting, Single Inverted Pendulum, and a twodegree-of-freedom helicopter.