Abstract
A new fuzzy controller for stabilizing series-type double inverted pendulum systems is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The controller deals with six input items. Each input item is provided with a SIRM and a dynamic importance degree (DID). The SIRM and the DID are set up such that the angular control of the upper pendulum takes the highest priority order over the angular control of the lower pendulum and the position control of the cart when the relative angle of the upper pendulum is big. By using the SIRMs and the DIDs, the control priority orders are automatically adjusted according to control situations. Simulation results show that the controller stabilizes series-type double inverted pendulum systems of different parameter values in about 10.0 s for a wide range of the initial angles.
| Original language | English |
|---|---|
| Pages (from-to) | 297-308 |
| Number of pages | 12 |
| Journal | Artificial Intelligence in Engineering |
| Volume | 15 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jul 2001 |
| Externally published | Yes |
Keywords
- Double inverted pendulum
- Dynamic importance degree
- Expert system
- Fuzzy control
- Intelligent system
- SIRM (Single Input Rule Module)
- Stabilization