Fuzzy self-tuning of parameters online for human simulated intelligent controller

Using fuzzy logic rules, a self-tuning structure for the self-tuning level of a human simulated intelligent controller (HSIC) has been designed. This structure has fuzzy self-tuning abilities in the swing-up control of a cart-double pendulum system. It efficiently accomplishes the online self-tuning of the control parameters of a HSIC with hierarchical and multi-mode control structure. The computer simulation and real-time experiments of the swing-up control of a cart-double pendulum system show that the online fuzzy self-tuning of the control parameters markedly enhances the robustness and adaptability of the HSIC.