Fusion function based fuzzy control for a double inverted pendulum

In view of the multi-variable,nonlinear and strongly-coupling double inverted pendulum system,the fuzzy control theory is introduced in this paper to study the stability control of the double inverted pendulum.In order to solve the rule number explosion problem of fuzzy controller in a multi-variable system like double inverted pendulum,the dimensions of input variables of the fuzzy controller are depressed by a fusion function designed on the basis of LQR theory.It can reduce the design difficulty of controller.The influence of quantification factors on the control effect is also studied.The quality of the fuzzy controller is improved by setting threshold value to achieve the auto-tuning of quantification factors.Simulation and experimental results show that the controller based on this fuzzy control algorithm is simple in structure and has good control effect.