Abstract
A fuzzy controller for stabilizing inverted pendulum and cart systems is presented based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The controller has a simple structure, and can smoothly realize in parallel the pendulum angular control and the cart position control. For any inverted pendulum and cart system, of which the pendulum length is among [0.2 m, 22 m], the pendulum mass and the cart mass are separately larger than or equal to 0001 kg and 0.002 kg, and the mass ratio of the pendulum to the cart is among [0.005, 0.500], the controller is proved to have a high generalization ability to stabilize the object completely in about 8.0 seconds.
| Original language | English |
|---|---|
| Pages | 771-775 |
| Number of pages | 5 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 18th International Conference of the North American Fuzzy Information Processing Society - NAFIPS'99 - New York, NY, USA Duration: 10 Jun 1999 → 12 Jun 1999 |
Conference
| Conference | Proceedings of the 1999 18th International Conference of the North American Fuzzy Information Processing Society - NAFIPS'99 |
|---|---|
| City | New York, NY, USA |
| Period | 10/06/99 → 12/06/99 |
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