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A new fuzzy controller for stabilization of parallel-type double inverted pendulum system
Yi, JQ; Yubazaki, N; Hirota, K
2002-02-16
发表期刊FUZZY SETS AND SYSTEMS
卷号126期号:1页码:105-119
文章类型Article
摘要A new fuzzy controller with 6 input items and I output item for stabilizing a parallel-type double inverted pendulum system is presented based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. Each input item is assigned with a SIRM and a dynamic importance degree. The SIRMs and the dynamic importance degrees are designed such that the angular control of the longer pendulum takes the highest priority over the angular control of the shorter pendulum and the position control of the cart when the angle of the longer pendulum is big. By using the SIRMs and the dynamic importance degrees, the priority orders of the three controls are automatically adjusted according to control situations. The proposed fuzzy controller has a simple and intuitively understandable structure, and executes the three controls entirely in parallel. Simulation results show that the proposed fuzzy controller can stabilize completely a parallel-type double inverted pendulum system within 10.0 s for a wide range of the initial angles of the two pendulums. This is the first result for a fuzzy controller to achieve successfully complete stabilization control of a parallel-type double inverted pendulum system. (C) 2002 Elsevier Science B.V. All rights reserved.
关键词Fuzzy Control Intelligent System Inverted Pendulum Single Input Rule Module (Sirm) Stabilization
WOS标题词Science & Technology ; Technology ; Physical Sciences
收录类别SCI
语种英语
WOS研究方向Computer Science ; Mathematics
WOS类目Computer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability
WOS记录号WOS:000173797500007
引用统计
被引频次:70[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9854
专题09年以前成果
通讯作者Yi, JQ
作者单位1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligent Sci, Beijing 100080, Peoples R China
2.Mycom Inc, Technol Res Ctr, Kyoto 6168303, Japan
3.Tokyo Inst Technol, Interdisciplinary Grad Sch Sci & Engn, Yokohama, Kanagawa 2268502, Japan
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Yi, JQ,Yubazaki, N,Hirota, K. A new fuzzy controller for stabilization of parallel-type double inverted pendulum system[J]. FUZZY SETS AND SYSTEMS,2002,126(1):105-119.
APA Yi, JQ,Yubazaki, N,&Hirota, K.(2002).A new fuzzy controller for stabilization of parallel-type double inverted pendulum system.FUZZY SETS AND SYSTEMS,126(1),105-119.
MLA Yi, JQ,et al."A new fuzzy controller for stabilization of parallel-type double inverted pendulum system".FUZZY SETS AND SYSTEMS 126.1(2002):105-119.
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