A new fuzzy controller for stabilization of parallel-type double inverted pendulum system

	A new fuzzy controller for stabilization of parallel-type double inverted pendulum system
	Yi, JQ; Yubazaki, N ; Hirota, K
刊名	FUZZY SETS AND SYSTEMS
	2002-02-16
卷号	126 期号:1 页码:105-119
关键词	fuzzy control intelligent system inverted pendulum single input rule module (SIRM) stabilization
通讯作者	Yi, JQ
英文摘要	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.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Computer Science, Theory & Methods ; Mathematics, Applied ; Statistics & Probability
研究领域[WOS]	Computer Science ; Mathematics
收录类别	SCI
语种	英语
WOS记录号	WOS:000173797500007
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9854]
专题	自动化研究所_09年以前成果
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
推荐引用方式 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.