Open-Source Fuzzy Logic-Based Controller Design for Cart Position in a Linear Plant.

In recent years, fuzzy logic has presented good performance in control engineering applications where mathematical models are unknown or are not crucial for the design of controllers to mechanical systems since the controller is compounded by a series of inferences and labels that describes how the system must react when it faces decompensations. In this paper, a new approach for a fuzzy logic-based controller (FLBC) is presented to control the position of a cart in a linear plant made up of a DC motor coupled to a shaft connected to the rail cart. The FLBC is designed from two linguistic variables as inputs, with seven linguistic values related to 49 control rules. The fuzzification stage presents trapezoidal and triangular membership functions, whereas the output contains singletons in well-defined positions. The control signal is generated by the relation between the setpoint and the feedback signal. The FLBC algorithm is developed on an ATMEGA2560 embedded system using C++, but it can be programmed in any language due to no fuzzy library is being used. [ABSTRACT FROM AUTHOR]