The steady-state operation and controlled position tracking in ball balancer applications are largely affected due to their nonlinear and underactuated behavior. To overcome these drawbacks, this paper develops a wavelet-based fuzzy controller which operates in closed loop with the system by measuring the ball position and the plate angle. The proposed approach adapts discrete wavelet transform for denoising the error signal and tuning the weights of the fuzzy controller. To test the effectiveness of the proposed approach, numerical simulations are performed by modeling a two degree of freedom ball balancer system. The eminence of the controller is assessed by comparing its operation on the modeled system with conventional fuzzy logic controller and by calculating the root mean square error, and time response analysis. The results showed a steady and precise response of the proposed approach to the framework of positioning ball on the plate.

球形平衡器应用中的稳态操作和受控位置跟踪由于其非线性和欠驱动行为而受到很大影响。为了克服这些缺点，本文开发了一种基于小波的模糊控制器，该控制器通过测量球的位置和板角来与系统闭环运行。所提出的方法适用于离散小波变换以对误差信号进行去噪并调整模糊控制器的权重。为了测试所提出方法的有效性，通过对两自由度球平衡器系统进行建模来进行数值模拟。通过将控制器在建模系统上的操作与常规模糊逻辑控制器进行比较，并通过计算均方根误差和时间响应分析，可以评估控制器的卓越性。