SWINGING UP AND STABILIZING A PENDULUM (GYROBOT)

In this paper we consider two methods in swinging up and stabilizing a gyrobot. The gyrobot is an under actuated pendulum which consists a single link and an inertial, motor driven flywheel mounted at the free end. We want to design a control system to swing up the pendulum from downward equilibrium point to upward equilibrium point and stabilize it in this point. For this purpose we apply two types of controllers: the first has a non-linear energy based control for swinging up and linear full feedback controller for balancing gyrobot with a switch between two controllers. The second is a controller based on fuzzy logic method. In this method the two sets of rules for swing up and stabilizing are gathered in a fuzzy logic controller.