Progressive fuzzy fusion control of two coupled inverted penduli

This paper considers the control of two inverted penduli coupled with a spring using a progressive fuzzy fusion control method. The two penduli have some uncertain and unknown parameters and the coupling spring has an unknown spring constant. We assume that the lengths of the penduli and the spring are known. One of the inverted penduli is excited to generate the force disturbance to the other through the spring link. The aim of this paper is to design a controller based on the idea of fuzzy logic and the classical control methods, such that the second pendulum can reject the disturbance from the first pendulum significantly even without precise mathematical model of the system. The angular position and the angular speed for both inverted penduli are measured to feed into the fuzzy fusion controller via the proposed disturbance decoupling procedure. Based on the hardware-in-the-loop realtime simulation environment provided by MATLAB/Simulink RTW (real-time workshop) and plants in Quanser´s rotary servo family, the subjective knowledge about this system in a progressive way. Extensive experimental results are reported to demonstrate how effectively benefit from the fuzzy logic control.