Balancing and Position Control of Inverted Pendulum System Using Hierarchical Adaptive Fuzzy Controller
김용태, 이희진, 김동연 · 한국지능시스템학회 학술발표 논문집 · 2004
In the paper is proposed a hierarchical adaptive fuzzy controller for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the hierarchical adaptive fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing, a forced disturbance generator which emulates heuristic control strategy, and a supervisory decision maker for the arbitration of two control objectives. It is proved that all the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.