제어로봇시스템학회:학술대회논문집
- 1997.10a
- /
- Pages.207-210
- /
- 1997
Stabilization control of inverted pendulum by adaptive fuzzy inference technique
적응 퍼지추론 기법에 의한 도립진자의 안정화 제어
Abstract
In this paper, a hierarchical fuzzy controller for stabilization of the inverted pendulum system is proposed. The facility of this hierarchical fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point (.PHI.