한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 1996년도 추계학술대회 학술발표 논문집
- /
- Pages.172-175
- /
- 1996
자기학습 퍼지제어기를 이용한 원형 역진자 시스템의 안정화 및 위치 제어
Balancing and Position Control of an Circular Inverted Pendulum System Using Self-Learning Fuzzy Controller
초록
In the paper is proposed a hierarchical self-learning fuzzy controller for balancing and position control of an circular inverted pendulum system. To stabilize the pendulum at a specified position, the hierarchical fuzzy controller consists of a supervisory controller, a self-learning fuzzy controller, and a forced disturbance generator. Simulation example shows the effectiveness of the proposed method.