Title :
A Takagi-Sugeno type fuzzy logic controller with only 3 rules for a 4 dimensional inverted pendulum system
Author :
Song, Feijun ; Smith, Samuel M.
Author_Institution :
Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Abstract :
This paper presents a Takagi-Sugeno (TS) type Fuzzy Logic Controller (FLC) with only 3 rules for a 4 dimensional inverted pendulum system. This controller is able to control the system over a larger range of pole angle and cart positions compared with other control schemes. The rule antecedents of this controller are extracted from a cell state space based Optimal Control Table (OCT) by a subtractive clustering method and the rule output function parameters are optimized by an efficient search algorithm called Incremental Best Estimate Directed Search (IBEDS), which is also cell state space based. Simulation results demonstrate the usefulness of this 3 rule controller
Keywords :
fuzzy control; nonlinear systems; pendulums; 4D inverted pendulum system; Incremental Best Estimate Directed Search; Optimal Control Table; Takagi-Sugeno fuzzy logic controller; cart position; cell state space; pole angle; rule output function parameters; subtractive clustering method; Control systems; Feedback control; Fuzzy control; Fuzzy logic; Neural networks; Optimal control; Regulators; Sliding mode control; State-space methods; Takagi-Sugeno model;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886602
