ANFIS controller for double inverted pendulum

Author

Qiang, Sheng ; Zhou, Qing ; Gao, X.Z. ; Yu, Shuanghe

Author_Institution

Harbin Inst. of Technol., Harbin

fYear

2008

fDate

13-16 July 2008

Firstpage

475

Lastpage

480

Abstract

A mathematical model for the double inverted pendulum is first presented. Then adaptive neural fuzzy inference system based on the state variables fusion is proposed for the control of the double inverted pendulum. The controller uses error back-propagation and least square estimator hybrid training algorithm to adjust the membership functions of each variable, optimize fuzzy rules, and identify the double inverted pendulum. Results show that proposed ANFIS can make the inverted pendulum stable.

Keywords

adaptive control; fuzzy control; fuzzy set theory; least mean squares methods; neurocontrollers; nonlinear control systems; ANFIS controller; adaptive neural fuzzy inference system controller; double inverted pendulum; error back-propagation; least square estimator hybrid training algorithm; mathematical model; state variables fusion; Automatic control; Control systems; Error correction; Explosions; Fuzzy control; Fuzzy neural networks; Least squares approximation; Mathematical model; Optimal control; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on

Conference_Location

Daejeon

ISSN

1935-4576

Print_ISBN

978-1-4244-2170-1

Electronic_ISBN

1935-4576

Type

conf

DOI

10.1109/INDIN.2008.4618147

Filename

4618147