The Design of Hybrid Fuzzy Controller for Inverted Pendulum
Inverted Pendulum을 위한 하이브리드 퍼지 제어기 설계
- Roh, Seok-Beom (Dept. of Control & Instrumentation Engineering, Wonkwang University) ;
- Oh, Sung-Kwun (Dept. of Control & Instrumentation Engineering, Wonkwang University)
- Published : 2001.07.18
In this Letter, we propose a comprehensive design methodology of hybri'd Fuzzy controllers (HFC). The HFC comes as a form of a convex combination of a standard PID controller and a fuzzy controller. The design procedure dwells on the use of evolutionary computing (genetic algorithm) and an auto-tuning algorithm. The tuning of the scaling factors of the HFC is an essential component of the entire optimization process. A numerical study is presented and a detailed comparative analysis is also included.