Balance Control for Inverted Pendulum System via SGCMG.

It is crucial to study the self-balance problem of an inverted pendulum with non-holonomic constraints. For the balance control of inverted pendulum systems, there are now issues with insufficient robustness, a short control range, and a complex controller design. The fuzzy PD control method is a new control approach that is proposed in this paper. Firstly, with a single gimbal control moment gyro (SGCMG), a dynamic model of the inverted pendulum is established and a dynamic analysis is carried out. Secondly, certain important parameters are specified, including PID control parameters and fuzzy domain, and variables like SGCMG pitch rate and inverted pendulum rolling angle are defined. Thirdly, some important variables are configured, like the fuzzy domain and PID control parameters. Finally, using the Matlab-Adams co-simulation, the effects of this technique on the stability of the inverted pendulum is confirmed. The simulation results ultimately demonstrate the effectiveness and viability of the suggested fuzzy PD control method, which can effectively increase the stability of the inverted pendulum.