Title :
Application of fuzzy control in the inverted pendulum
Author :
Haiyan Wang ; Yu Bai
Author_Institution :
Chang Chun Univ. of Technol., Changchun, China
Abstract :
In this paper, fuzzy control was used to control a vertical rotary invert-pendulum with single fulcrum due to its complex characteristics. Movable equation of the inverted pendulum was derived according to the dynamics analysis method of Lagrange. By dealing with feasible approximation for the system, an easily analytical math model was deduced. At the same time, making use of the fuzzy logical tool package in the MATLAB to build FIS of the inverted pendulum, and the function of figure modeling and simulation in it to simulate inverted pendulum. The results shows that the method is practicable.
Keywords :
fuzzy control; nonlinear control systems; pendulums; FIS; MATLAB; analytical math model; complex characteristics; dynamics analysis method; fuzzy control; fuzzy logical tool package; inverted pendulum; single fulcrum; vertical rotary invert-pendulum; Artificial neural networks; Kinetic theory; MATLAB; Mathematical model; Numerical models; dynamics model; fuzzy control; rotary inverted-pendulum; simulation;
Conference_Titel :
Measurement, Information and Control (ICMIC), 2013 International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4799-1390-9
DOI :
10.1109/MIC.2013.6758210
