2012•International Conference on Mechanic Automation and Control EngineeringRequires access
Design of Fuzzy Controller for Double Inverted Pendulum
Yudong Tang, Bao Zhida, Lei Zhou, Lin Jian
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Abstract
The double inverted pendulum is a multivariable, nonlinear control system. The fuzzy controller of double inverted pendulum is studied in the paper. The mathematical model is gained by the Lagrange equation and the controllability of double inverted pendulum system in unstable equilibrium point is analyzed. On the base of above, the fuzzy controller for double inverted pendulum is designed by the fuzzy control theory. The dimensions and control rules of the fuzzy controller are depressed by designing a fusion function using the optimization control theory. Simulation and real-time control results prove that the fuzzy controller is effective and feasible.