Title :
ANFIS controller for double inverted pendulum
Author :
Qiang, Sheng ; Zhou, Qing ; Gao, X.Z. ; Yu, Shuanghe
Author_Institution :
Harbin Inst. of Technol., Harbin
Abstract :
A mathematical model for the double inverted pendulum is first presented. Then adaptive neural fuzzy inference system based on the state variables fusion is proposed for the control of the double inverted pendulum. The controller uses error back-propagation and least square estimator hybrid training algorithm to adjust the membership functions of each variable, optimize fuzzy rules, and identify the double inverted pendulum. Results show that proposed ANFIS can make the inverted pendulum stable.
Keywords :
adaptive control; fuzzy control; fuzzy set theory; least mean squares methods; neurocontrollers; nonlinear control systems; ANFIS controller; adaptive neural fuzzy inference system controller; double inverted pendulum; error back-propagation; least square estimator hybrid training algorithm; mathematical model; state variables fusion; Automatic control; Control systems; Error correction; Explosions; Fuzzy control; Fuzzy neural networks; Least squares approximation; Mathematical model; Optimal control; Programmable control;
Conference_Titel :
Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2170-1
Electronic_ISBN :
1935-4576
DOI :
10.1109/INDIN.2008.4618147
