Design of a hybrid fuzzy-PD controller for inverted pendulum

In our paper, the analytical structures of the one-input-one-output and two-input-one-output fuzzy controllers are first investigated. An efficient parameter estimation scheme to design fuzzy controllers is also introduced, which overcomes the drawback of conventional trial and error-based approache...

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Bibliographic Details
Main Authors: Xiaojun Ban, Gao, X.Z., Xianlin Huang
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer errors
Computer science
control theory
systems
Computer simulation
Control system synthesis
Control theory
Control theory. Systems
Error correction
Exact sciences and technology
Fuzzy control
Fuzzy sets
Intelligent structures
Modelling and identification
Paper technology
Parameter estimation
Power engineering and energy
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Summary:In our paper, the analytical structures of the one-input-one-output and two-input-one-output fuzzy controllers are first investigated. An efficient parameter estimation scheme to design fuzzy controllers is also introduced, which overcomes the drawback of conventional trial and error-based approaches. Using this method, we propose a new hybrid fuzzy-PD controller for the inverted pendulum. Both computer simulations and real-time experiments demonstrate that our hybrid controller can satisfactorily control the cart position as well as balance the pole.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2004.1400669