ChatGPT Fuzzy Logic Controller to Balance Inverted Pendulum

include

// Define input and output variables
FuzzySet inputAngle[NB_INPUT];
FuzzySet outputForce[NB_OUTPUT];
FuzzyRuleAntecedent antecedent[NB_RULE];
FuzzyRuleConsequent consequent[NB_RULE];

Fuzzy Logic fuzzy;

// Initialize the fuzzy logic system
void setupFuzzyLogic() {
// Define input variable ‘Angle’
inputAngle[ANGLE_NEGATIVE] = FuzzySet(-90, -60, -30);
inputAngle[ANGLE_ZERO] = FuzzySet(-30, 0, 30);
inputAngle[ANGLE_POSITIVE] = FuzzySet(0, 60, 90);

// Define output variable ‘Force’
outputForce[FORCE_NEGATIVE] = FuzzySet(-255, -127, 0);
outputForce[FORCE_ZERO] = FuzzySet(-127, 0, 127);
outputForce[FORCE_POSITIVE] = FuzzySet(0, 127, 255);

// Define fuzzy rules
antecedent[0] = FuzzyRuleAntecedent(&inputAngle[ANGLE_NEGATIVE]);
antecedent[1] = FuzzyRuleAntecedent(&inputAngle[ANGLE_ZERO]);
antecedent[2] = FuzzyRuleAntecedent(&inputAngle[ANGLE_POSITIVE]);

consequent[0] = FuzzyRuleConsequent(&outputForce[FORCE_POSITIVE]);
consequent[1] = FuzzyRuleConsequent(&outputForce[FORCE_ZERO]);
consequent[2] = FuzzyRuleConsequent(&outputForce[FORCE_NEGATIVE]);

fuzzy.begin(antecedent, consequent, NB_RULE);
}

// Define input and output variables
float input[1];
float output[1];

void setup() {
// Initialize your sensors and actuators here
setupFuzzyLogic();
}

void loop() {
// Read the angle from your sensor (adjust as needed)
float angle = readAngleSensor();

// Fuzzify the input
input[0] = angle;

// Perform fuzzy logic inference
fuzzy.fuzzify(input, output);

// De-fuzzify the output
int controlForce = output[0];

// Apply the control force to the actuator (adjust as needed)
applyControlForce(controlForce);
}

// Define your sensor reading function (replace with actual sensor reading)
float readAngleSensor() {
// Replace this with your actual sensor reading code
return 0.0; // Dummy value for demonstration
}

// Define your actuator control function (replace with actual actuator control)
void applyControlForce(int force) {
// Replace this with your actual actuator control code
// This could involve controlling a motor, for example
}