Stabilization fuzzy control of parallel-type double inverted pendulum system

Author

Yi, Jianqiang ; Yubazaki, N. ; Hirota, Kaoru

Author_Institution

Technol. Res. Center, Mycom Inc., Kyoto, Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

817

Abstract

A fuzzy controller for stabilizing parallel-type double inverted pendulum system is presented, based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. By using the SIRMs and the dynamic importance degrees, the angular controls of the two pendulums and the position control of the cart are done entirely in parallel and the priority orders of the three controls are automatically adjusted according to control situations. Simulation results show that the fuzzy controller with a simple and intuitive structure can stabilize completely a parallel-type double inverted pendulum system within 10 seconds. This is the first result for a fuzzy controller to realize complete stabilization of a parallel-type double inverted pendulum system

Keywords

dynamics; fuzzy control; inference mechanisms; pendulums; position control; robust control; double inverted pendulum system; dynamics; fuzzy control; fuzzy inference model; position control; single input rule modules; stabilization; Angular velocity; Angular velocity control; Cellular neural networks; Clocks; Friction; Fuzzy control; Gravity; Multilevel systems; Position control; Rails;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1098-7584

Print_ISBN

0-7803-5877-5

Type

conf

DOI

10.1109/FUZZY.2000.839137

Filename

839137