A Takagi-Sugeno type fuzzy logic controller with only 3 rules for a 4 dimensional inverted pendulum system
Feijun Song, Samuel M. Smith · 2002
This paper presents a Takagi-Sugeno (TS) type Fuzzy Logic Controller (FLC) with only 3 rules for a 4 dimensional inverted pendulum system. This controller is able to control the system over a larger range of pole angle and cart positions compared with other control schemes. The rule antecedents of this controller are extracted from a cell state space based Optimal Control Table (OCT) by a subtractive clustering method and the rule output function parameters are optimized by an efficient search algorithm called Incremental Best Estimate Directed Search (IBEDS), which is also cell state space based. Simulation results demonstrate the usefulness of this 3 rule controller.