Fuzzy Backstepping Control and Anti- Control of Inverted Pendulum with Investigation of Noise and Disturbance effects

This study presents control of inverted pendulum via on-line fuzzy backstepping and anti-control of chaos. The inverted pendulum, as a mechatronics system, is usedfrequently in robotic applications and can be found in different forms. Based on Lyapunov stability theory forbackstepping design, the nonlinear controller and somegeneric sufficient conditions for asymptotic control are attained. Also in this study, anti-control of chaos is applied toincrease system's robustness and stability. To achieve this goal, the chaos dynamic must be created in the invertedpendulum system. So, the inverted pendulum system has been synchronized to chaotic gyroscope system. In this study, control and anti-control concepts are applied to achieve thehigh quality performance of inverted pendulum system. Also, it is tried to design a controller which is capable of satisfing the control and anti- control aims. The performances of the proposed control are examined in terms of controllers capability in front of Noise and Disturbance. Finally the efficacy of the proposed methods are illustrated by simulations.

Keywords:

backstepping design , anti-control , chaos , synchronization , chaotic gyroscope , on-line fuzzy design , inverted pendulum