Diseño de un controlador inteligente para un sistema inestable tipo péndulo invertido con monitorio remoto por IoT

Abstract

The present project: DESIGN OF AN INTELLIGENT CONTROLLER FOR AN UNSTABLE INVERTED PENDULUM TYPE SYSTEM WITH REMOTE MONITORING BY IoT, consists of the development of a controller that can stabilize the inverted pendulum, a system that naturally tends to fall due to its instability. The system is equipped with IoT technologies that enable remote monitoring and control from anywhere with an internet connection. For the development of the controller, a fuzzy logic algorithm was chosen, which is responsible for processing the information, in this case the angles, so that through the rules implemented in the programming, the actions to be performed on the motors can be defined. For remote monitoring, the Node-red programming software was used, which allows us to observe the angle measured by the MPU6050, the duty cycle of the motors, the direction of rotation, as well as to stop or start the program loaded into the ESP32 microcontroller.