Inverted Pendulum Design with Hardware Fuzzy Logic Controller

Abstract

An inverted pendulum robot has been designed and built using a fuzzy logic controller implemented in a Field Programmable Gate Array (FPGA). The Mamdani fuzzy controller has been implemented using integer numbers to simplify its construction and improve system throughput. An accelerometer and rate gyroscope are used along with a complementary filter to monitor the state of the robot. Using angular velocity and angle error the fuzzy controller can successfully balance the inverted pendulum robot.