A cascade fuzzy control system for inverted pendulum based on Mamdani-Sugeno type

Author

Zhaohong Ding ; Zhenyu Li

Author_Institution

Sch. of Electr. & Electron. Eng., Shanghai Inst. of Technol., Shanghai, China

fYear

2014

fDate

9-11 June 2014

Firstpage

792

Lastpage

797

Abstract

An inverted pendulum is typically an unstable and nonlinear system with multi-variables and strong coupling. This paper proposes a new type of cascade fuzzy control design in which Sugeno fuzzy controller is used on the inner loop to control pendulum swing angle while Mamdani fuzzy controller is used on the outer loop to control trolley displacement. Simulink simulation suggests that the fuzzy control design is highly efficient. The impact of numerical and scale factors on the control system is also studied.

Keywords

cascade control; control system synthesis; fuzzy control; nonlinear systems; pendulums; Mamdani fuzzy controller; Mamdani-Sugeno type; Simulink simulation; Sugeno fuzzy controller; cascade fuzzy control system design; inverted pendulum; multivariables; nonlinear system; pendulum swing angle; Control systems; Equations; Fuzzy control; Input variables; Mathematical model; Quantization (signal); Transient analysis; Mamdani; Sugeno; cascade fuzzy control; inverted pendulum; membership function;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on

Conference_Location

Hangzhou

Print_ISBN

978-1-4799-4316-6

Type

conf

DOI

10.1109/ICIEA.2014.6931270

Filename

6931270