Title :
A cascade fuzzy control system for inverted pendulum based on Mamdani-Sugeno type
Author :
Zhaohong Ding ; Zhenyu Li
Author_Institution :
Sch. of Electr. & Electron. Eng., Shanghai Inst. of Technol., Shanghai, China
Abstract :
An inverted pendulum is typically an unstable and nonlinear system with multi-variables and strong coupling. This paper proposes a new type of cascade fuzzy control design in which Sugeno fuzzy controller is used on the inner loop to control pendulum swing angle while Mamdani fuzzy controller is used on the outer loop to control trolley displacement. Simulink simulation suggests that the fuzzy control design is highly efficient. The impact of numerical and scale factors on the control system is also studied.
Keywords :
cascade control; control system synthesis; fuzzy control; nonlinear systems; pendulums; Mamdani fuzzy controller; Mamdani-Sugeno type; Simulink simulation; Sugeno fuzzy controller; cascade fuzzy control system design; inverted pendulum; multivariables; nonlinear system; pendulum swing angle; Control systems; Equations; Fuzzy control; Input variables; Mathematical model; Quantization (signal); Transient analysis; Mamdani; Sugeno; cascade fuzzy control; inverted pendulum; membership function;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
DOI :
10.1109/ICIEA.2014.6931270
