Saleem, Muhammad Khurram, Shahid, Muhammad Laiq Ur Rahman ORCID: 0000-0002-5223-4744, Nouman, Ahmed, Zaki, Hammad and Tariq, Muhammad Atiq Ur Rehman ORCID: 0000-0002-0226-7310 (2020) Design and implementation of Adaptive Neuro-Fuzzy Inference system for the control of an uncertain Ball on Beam Apparatus. Mehran University Research Journal of Engineering and Technology, 41 (2). pp. 178-184. ISSN 0254-7821

Abstract

Controlling an uncertain mechatronic system is challenging and crucial for its automation. In this regard, several control-strategies are developed to handle such systems. However, these control-strategies are complex to design, and require in-depth knowledge of the system and its dynamics. In this study, we are testing the performance of a rather simple control-strategy (Adaptive Neuro-Fuzzy Inference System) using an uncertain Ball and Beam System. The custom-designed apparatus utilizes image processing technique to acquire the position of the ball on the beam. Then, desired position is achieved by controlling the beam angle using Adaptive Neuro-Fuzzy and PID control. We are showing that adaptive neuro-fuzzy control can effectively handle the system uncertainties, which traditional controllers (i.e., PID) cannot handle.

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