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

Volume

1

fYear

2010

fDate

12-13 June 2010

Firstpage

300

Lastpage

303

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Communication Technologies in Agriculture Engineering (CCTAE), 2010 International Conference On

Conference_Location

Chengdu

Print_ISBN

978-1-4244-6944-4

Type

conf

DOI

10.1109/CCTAE.2010.5543607

Filename

5543607