Adaptive fuzzy logic motion and posture control of inverted pendulums with unstructured uncertainties

In this paper, an adaptive fuzzy logic based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online adaptation technique that leads to motion tracking and posture control. Unlike other control strategies, no a priori offline training, weights initialization, or parameters knowledge is required. Simulation results for different situations highlight the performance of the proposed controller in compensation for external disturbance and friction nonlinearities.