Hybrid fuzzy control of the inverted pendulum via vertical forces: Research Articles

Authors:
Darío Maravall;Changjiu Zhou;Javier Alonso
Affiliations:
Department of Artificial Intelligence, Faculty of Computer Science, Universidad Politécnica de Madrid, Campus de Montegancedo, Madrid 28660, Spain;School of Electrical and Electronic Engineering, Singapore Polytechnic, 500 Dover Road, 139651 Singapore;Industrial Automation Institute, CSIC, La Poveda, Arganda del Rey, 28500 Madrid, Spain
Venue:
International Journal of Intelligent Systems - Soft Computing for Modeling, Simulation, and Control of Nonlinear Dynamical Systems
Year:
2005

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Abstract

In this article, we look at the excellent effect of vertical force as regards the stabilization of the inverted pendulum (IP) and demonstrate how the fuzzy control design methodology can be used to construct a hybrid fuzzy control system that incorporates PD control into a Takagi–Sugeno fuzzy control structure for stabilizing the IP via a vertical force. By gaining an intuitive understanding of the dynamics of the IP, the IP state space is fuzzily divided into six regions. In each region, a PD controller is designed to satisfy the stability conditions obtained by Lyapunov's direct and indirect methods. It shows that the proposed hybrid fuzzy control scheme provides a more flexible and intuitive way to stabilize the IP via a vertical force. © 2005 Wiley Periodicals, Inc. Int J Int Syst 20: 195–211, 2005.