Fuzzy Hierarchy Control Strategy of the Double Inverted Pendulum Based on Granular Computing

The double inverted pendulum is a kind of multi-variable, nonlinear and fast system. When it is controlled by fuzzy controller, "rule explosion" is easily caused by many inputs. To solve the problem, the paper provides fuzzy hierarchy control strategy based on granular computing. According to granular theory, the error space is divided into different granular elements to constitute coarser granularity and finer granularity. Then we adopt fuzzy control on the layer of former to realize robust, while PID control on latter to realize delicate adjustment. The simulations testify that the strategy is effective, which not only solve the problem of rule explosion, but also achieve ideal performance of stable state and transient state.