Two Fuzzy Controllers Alternating for Cartpole System
Sunggyu Kwon · International Journal of Fuzzy Logic and Intelligent Systems · 2009
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 the scheme works well even though there is some residual oscillations of the pole and the cart.