Title :
A new fuzzy controller for stabilization of double inverted pendulum system
Author :
Zhang, Su-Ying ; An, Ran ; Shao, Shu-Man ; Li, Dan
Author_Institution :
Sch. of Electr. Technol. & Inf. Sci., Hebei Univ. of Sci. & Technol., Shijiazhuang, China
Abstract :
A new fuzzy controller for stabilization control of double inverted pendulum systems is presented based on the fusion function. By introducing comprehensive error and comprehensive error rate, reducing the number of input variables, so as to solve the problem of explosion of fuzzy rules. The total number of fuzzy rules can be reduced significantly and the fuzzy rules can be easily established. Simulation results show that the proposed fuzzy controller can stabilize completely a double inverted pendulum system within 5.0 s for different initial direction of the two pendulums angle and has strong anti-interference ability, robustness and good features.
Keywords :
fuzzy control; nonlinear systems; robust control; comprehensive error; comprehensive error rate; double inverted pendulum system; fuzzy controller; fuzzy rules; pendulum angle; stabilization; Educational institutions; double inverted pendulum; fusion function; fuzzy controller; s-function;
Conference_Titel :
Computer and Communication Technologies in Agriculture Engineering (CCTAE), 2010 International Conference On
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-6944-4
DOI :
10.1109/CCTAE.2010.5543607
