Upswing and stabilization control of inverted pendulum and cart system by the SIRMs dynamically connected fuzzy inference model

Jianqiang Yi*, Naoyoshi Yubazaki, Kaoru Hirota

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

27 Citations (Scopus)

Abstract

A fuzzy controller is constructed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model for the upswing and stabilization control of inverted pendulum and cart systems. When the pendulum locates at the pending domain, the fuzzy controller becomes automatically an upswing controller by using the saturation feature of the membership functions of the pendulum angle. When the pendulum locates at the upright domain, the fuzzy controller then becomes a stabilization controller which realize smoothly the pendulum angular control and the cart position control in parallel. Simulation results show that the presented fuzzy controller can swing up the pendulum from the pending position to the upright position and then stabilize the whole system in 2.0 seconds.

Original languageEnglish
PagesI-400 - I-405
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Fuzzy Systems Conference, FUZZ-IEEE'99 - Seoul, South Korea
Duration: 22 Aug 199925 Aug 1999

Conference

ConferenceProceedings of the 1999 IEEE International Fuzzy Systems Conference, FUZZ-IEEE'99
CitySeoul, South Korea
Period22/08/9925/08/99

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