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All Journal Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Minh-Quan
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Fuzzy Controller from Experts’ Rules for Middle Axis Ball and Beam Nguyen, Minh-Quan; Nguyen, Manh-Cuong; Trinh, Quang-Huy; Nguyen, Trung-Nghia; Ngo, Van-Thiet; Phu, Huynh-Manh-Trien; Nguyen, Pham-Minh-Duc; Nguyen, Phu-Tan; Le, Van-Truong; Dinh, Le-Hai-Duong; Dam, Thuan-An; Nguyen, Duc-Huy; Nguyen, Van-Dong-Hai
Journal of Fuzzy Systems and Control Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i3.94

Abstract

The present study examined the nonlinear system of Ball and Beam, to design an intelligent controller for this dynamic system. The authors formulated a mathematical model for the system and performed simulation testing using MATLAB to control it. It is noteworthy that the mathematical model was exclusively used for simulation purposes and not for building the controller. The author's team then proceeded to develop a Fuzzy Controller for the simulation model of the Ball and Beam system. Subsequently, the team tested the Fuzzy controller on the actual Ball and Beam model. The primary objective of this study was to assess the feasibility of building and controlling an intelligent controller for a nonlinear object, without relying on its mathematical model. The findings of the study can be useful in designing and controlling complex systems that are difficult to model mathematically.
PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment Nguyen, Van-Dong-Hai; Cu, Minh-Phuoc; Nguyen, Tran-Minh-Nguyet; Huynh, Thanh-Do; Dang, Dinh-Khoi; Hoang, Tan-Dat; Nguyen, Minh-Quan; Vu, Dinh-Dung; Le, Chi-Hai-Duong; Phan, Nguyen-Bao-Long; Bui, Quoc-Duy; Le, Ngoc-Hai; Vo, Duy-Phuc
Journal of Fuzzy Systems and Control Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i3.153

Abstract

Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.
Co-Authors Bui, Quoc-Duy Cu, Minh-Phuoc Dam, Thuan-An Dang, Dinh-Khoi Dinh, Le-Hai-Duong Hoang, Tan-Dat Huynh, Thanh-Do Le, Chi-Hai-Duong Le, Ngoc-Hai Le, Van-Truong Ngo, Van-Thiet Nguyen, Duc-Huy Nguyen, Manh-Cuong Nguyen, Pham-Minh-Duc Nguyen, Phu-Tan Nguyen, Tran-Minh-Nguyet Nguyen, Trung-Nghia Nguyen, Van-Dong-Hai Phan, Nguyen-Bao-Long Phu, Huynh-Manh-Trien Trinh, Quang-Huy Vo, Duy-Phuc Vu, Dinh-Dung