https://github.com/farshidnooshi/fuzzy-inverted-pendulum-controller

Implementation of Inverted Pendulum with Fuzzy Expert System.
https://github.com/farshidnooshi/fuzzy-inverted-pendulum-controller

Last synced: about 2 months ago
JSON representation

Implementation of Inverted Pendulum with Fuzzy Expert System.

• Host: GitHub
• URL: https://github.com/farshidnooshi/fuzzy-inverted-pendulum-controller
• Owner: FarshidNooshi
• Created: 2022-01-21T14:39:35.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2022-01-21T14:40:15.000Z (over 3 years ago)
• Last Synced: 2025-02-09T21:11:16.608Z (4 months ago)
• Language: Python
• Homepage:
• Size: 4.04 MB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# Fuzzy Inverted Pendulum

Basically, this project consists of an inverted pendulum simulator and a fuzzy controller. The main goal was to develop a simple yet useful simulator to model the environment, so that you are enabled to easily create a fuzzy controller for the inverted pendulum problem.

It was implemented using **pygame** and **pyfuzzy** in *python2.7*.

## Getting Started

### Install

    $ sudo pip install virtualenv

    $ virtualenv -p python2.7 venv

    $ source venv/bin/activate

    $ ./install-deps.sh

### Run

    $ ./main.py

Also, you can run the project using custom configurations located in the **configs** directory.

	$ ./main.py configs/full.ini

## Usage

### Physical parameters of simulator

> **M**: cart mass, *kg*

> 

> **m**: pendulum mass, *kg*

> 

> **l**: pendulum length, *m*

> 

> **x**: cart position, *m*

> 

> **v**: cart velocity, *m/s*

> 

> **a**: cart acceleration, *m/s^2*

> 

> **theta**: pendulum central angle, *radian*

> 

> **omega**: pendulum angular velocity, *m/s*

> 

> **alpha**: pendulum angular acceleration, *m/s^2*

> 

> **g**: gravity acceleration, *m/s^2*

> 

> **b**: cart coefficient of friction, *newton/m/s*

> 

> **I**: moment of inertia, *kg.m^2*

> 

> **min_x**: cart minimum x, *m*

> 

> **max_x**: cart maximum x, *m*

> 

> **force**: force applied on cart, *newton*

You can see all the parameters in **world.py** module.

Also these parameters can be modified using configuration files located in **configs** directory.

### Fuzzy Control Language (FCL)

The *FuzzyController* class in **controller.py** module, loads an *FCL* file to decide how much force needs to be applied to the cart in each cycle of simulation.

*FCL* files can be found in **controllers** directory. You can create your own controller by writing a new *FCL* file and specifying it in the *config* files by changing the *fcl_path* item.

**configs/default.ini**:

	[simulator]

	dt = 0.1

	fps = 60

	[controller]

	fcl_path = controllers/simple.fcl

	[world]

	theta = -90.0

### Simple FCL Controller

We have created a simple controller that works just fine and can be found in **controllers** directory. You can also checkout the fuzzy variables chart, available in the **images** directory.