Swing up and balance control of planetary train type pendulum with fuzzy logic and energy compensation

A planetary train type pendulum is considered in this paper, swing up and balance control is of concern. Due to that the sun gear is not directly connected to the planetary gear, an accelerated-speed profile is required to provide necessary driving torque. In this paper, a fuzzy logic control scheme is considered. Particularly, an energy compensation scenario is proposed so that stabilizing equilibrium can be preserved regardless of the initial positions. Compared with conventional energy-based method, the proposed fuzzy controller provides better control performance with short transition period and disturbance-free.