Hierarchical fuzzy logic control of a double inverted pendulum

This paper uses dynamical hierarchical control to stabilize a double inverted pendulum. Hamilton´s principle is introduced to build the dynamic model of the system. The double inverted pendulum is decomposed into subsystems. Fuzzy logic controllers are designed for each subsystem at the lower level of the hierarchy. At the higher level a fuzzy logic based coordinator is developed to supervise the complete system. Computer simulation using the Matlab fuzzy logic Toolbox compares the fuzzy logic controller with conventional state feedback control and shows the advantages of employing FLC as well as the advantage of the hierarchical control