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A new fuzzy controller for stabilization of parallel-type double inverted pendulum system
Yi, JQ; Yubazaki, N; Hirota, K
Source PublicationFUZZY SETS AND SYSTEMS
2002-02-16
Volume126Issue:1Pages:105-119
SubtypeArticle
AbstractA 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.
KeywordFuzzy Control Intelligent System Inverted Pendulum Single Input Rule Module (Sirm) Stabilization
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Mathematics
WOS SubjectComputer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability
WOS IDWOS:000173797500007
Citation statistics
Cited Times:71[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9854
Collection09年以前成果
Corresponding AuthorYi, JQ
Affiliation1.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
Recommended Citation
GB/T 7714
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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