Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 1998.06a
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- Pages.459-464
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- 1998
A Fuzzy Model Based Controller for the Control of Inverted Pendulum
- Wook Chang (Dept. of Electrical Eng.,Yonsei Univ.) ;
- Kwon, Ok-Kook (Dept. of Electrical Eng.,Yonsei Univ.) ;
- Joo, Young-Hoon (Dept. of Electrical Eng.,Yonsei Univ.) ;
- Park, Jin-Bae (Dept. of Electrical Eng.,Yonsei Univ.)
- Published : 1998.06.01
Abstract
In this paper, we propose a stable fuzzy logic controller architecture for inverted pendulum,. In the design procedure, we represent the fuzzy system as a Takagi-Sugeno fuzzy model and construct a global fuzzy logic controller by considering each local state feedback controller and a supervisory controller, Unlike usual parallel distributed controller, one can design a global stable fuzzy controller without finding a common Lyapunov function by the proposed method. A simulation is performed to control the inverted pendulum to show the effectiveness and feasibility of the proposed fuzzy controller.
Keywords