Title :
Two Alternate Fuzzy Controllers for Cartpole System
Author_Institution :
Keimyung Univ., Daegu
Abstract :
A control system composed of two fuzzy controllers is proposed to balance the pole as well as to move the cart to the center of the track of the cartpole system. The two fuzzy controllers are designed with 2 input variables respectively and their control characters are studied in order to devise a control scheme that alternates the two fuzzy controllers. It is found that the control system using this scheme works well even though there is some residual oscillations of the pole and the cart.
Keywords :
fuzzy control; nonlinear systems; pendulums; alternate fuzzy controllers; cartpole system; control system; inverted pendulum; residual oscillations; Angular velocity; Control systems; Cybernetics; Fuzzy control; Fuzzy systems; Input variables; Linear feedback control systems; Machine learning; Mechanical variables control; Sliding mode control; Cartpole system; Fuzzy control; Inverted pendulum;
Conference_Titel :
Machine Learning and Cybernetics, 2007 International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-0973-0
Electronic_ISBN :
978-1-4244-0973-0
DOI :
10.1109/ICMLC.2007.4370220
