계층적 퍼지추론기법에 의한 도립진자 시스템의 안정화 제어

Stabilization Control of the Inverted Pendulum System by Hierarchical Fuzzy Inference Technique

In this paper, a hierarchical fuzzy controller is proposed for the stabilization control of the inverted pendulum system. The design of controller for that system is difficult because of its complicated nonlinear mathematical model with unknown parameters. Conventional fuzzy control strategy based only on dynamics of pendulum made have failed to stabilize. However, proposed control strategies are to swing pendulum from natural stable up equilibrium point to an unstable equilibrium point and are to transport a cart from an arbitrary position toward a center of rail. Thus, the proposed fuzzy stabilization controller have a hierarchical fuzzy inference structure; that is, the lower level is for inference interface for the virtual equilibrium point and the higher level one for the position control of cart according to the firstly inferred virtual equilibrium point.