Dynamic characteristic prediction of inverted pendulum under the reduced-gravity space environments

A new multi-local linear model based on the Tkakgi–Sugeno approach is presented to carry out controlling of a nonlinear unsteady system and to make a design of inverted pendulum fuzzy controller. Nonlinear multi-variance behaviors are transformed to a multi-local linear model using a fuzzy approximation method, which is used to implement control steadily and rapidly for the global system. Detailed investigations on dynamic behaviors of inverted pendulum under reduced-gravity space environments are performed using Simulink simulations. Results showed that stabilization of an inverted pendulum is greatly affected by reduced-gravity conditions and effects of θ angle variation are the largest. When θ is greater than 1.571 rad threshold value, balances will be lost under earth, lunar and microgravity conditions. Furthermore, microgravity is favorable for keeping balance status. An appropriate compensation controlling provided by the presented fuzzy controller can keep a better balance for inverted pendulum.