Stabilization of inverted pendulum by neuro-control
Sigeru Omatu, Tohru Ide · 2002
In this paper, we consider stabilization of an inverted pendulum which can be controlled by moving a cart in an intelligent way. Here we adopt a fuzzy control to swing up the pendulum from the bottom and switch the control law from fuzzy control to linear quadratic optimal control after the pendulum approaches to an upper position. But there is some fluctuation or offset in a position even if we use the linear quadratic control law. In order to remove these phenomena, we use a neuro-controller. The experimental results show the effectiveness of the present approach.>