제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.1267-1271
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- 2003
Robust adaptive fuzzy controller for an inverted pendulum
- Seo, Sam-Jun (Department of Electrical & Electronic Engineering, Anyang University) ;
- Kim, Dong-Sik (Division of Information and Technology Engineering, Soonchunhyang University)
- Published : 2003.10.22
Abstract
This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.
Keywords