Fuzzy servo control of an inverted pendulum system

  • Authors:

  • Mohd Khairi Nor;Shigenori Okubo

  • Affiliations:

  • Graduate School of Science and Engineering, Yamagata University, Yonezawa, Japan 992-8510 and Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka, Durian Tunggal, Melaka, Malays ...;Graduate School of Science and Engineering, Yamagata University, Yonezawa, Japan 992-8510

  • Venue:
  • Artificial Life and Robotics
  • Year:
  • 2012

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Abstract

In this paper, an application of fuzzy servo control for stabilizing inverted pendulum system will be discussed. The inverted pendulum system is a simple system that consists of pendulum and cart but has strong nonlinearity and inherent instability. It is used as benchmark problem for study the performance and effectiveness of new control method. The idea behind this control method is to divide the operating region of nonlinear system into small areas, and to treat as a collection of local linear servo systems by using Davison---Smith method. The control rule of each local linear servo systems is calculated using pole assignment method proposed by Hikita. Fuzzy method is applied to each local linear servo system and combines it as new control rule. The simulations have been done and the comparisons have been made between the fuzzy servo control and linear servo control. The simulation to study the effect of reference r 驴 0 is done. The comparisons between different values of weight matrix Q n for fuzzy membership function and disturbance also have been done. The results show that the proposed method can stabilize the system better than linear servo control and follow the reference given. The effect of variant value of values of weight matrix Q n for fuzzy membership function and disturbance also can be observed.