Lógica Difusa Aplicada al Control Local del Péndulo Invertido con Rueda de Reacción
DOI:
https://doi.org/10.22517/23447214.8899Keywords:
Conjuntos Difusos, Mecánica de LaGrange, Sistemas de Control Automático.Abstract
En este artículo se presenta el diseño y la implementación de un controlador difuso para el péndulo invertido con rueda de reacción. La metodología utiliza los conceptos fundamentales de la lógica difusa para diseñar el controlador a partir del conocimiento que los operarios tienen sobre la dinámica del sistema, evitando así, el modelado dinámico del mismo. El diseño se implementa sobre el modelo no lineal del sistema y se aplican diferentes tipos de perturbaciones con el fin de evaluar las capacidades del controlador. Los resultados muestran que los controladores basados en lógica difusa tienen una buena respuesta ante distintos tipos de perturbaciones que afectan la operación de los sistemas.Downloads
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