한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)

한국지능시스템학회 (Korean Institute of Intelligent Systems)
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계층적 적응 퍼지제어기법을 사용한 역진자시스템의 안정화 및 위치제어

Balancing and Position Control of Inverted Pendulum System Using Hierarchical Adaptive Fuzzy Controller

  • Kim, Yong-Tae (Dept. of Information & Control Engineering, Hankyong National University) ;
  • Lee, Hee-Jin (Dept. of Information & Control Engineering, Hankyong National University) ;
  • Kim, Dong-Yon (Dept. of Electronic Engineering, Hankyong National University)
  • 발행 : 2004.04.01
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초록

In the paper is proposed a hierarchical adaptive fuzzy controller for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the hierarchical adaptive fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing, a forced disturbance generator which emulates heuristic control strategy, and a supervisory decision maker for the arbitration of two control objectives It is proved that all the signals in the overall system are bounded. Simulation results are given to verify the proposed adapt i ye fuzzy control method.

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