Stabilization fuzzy control of inverted pendulum systems

Abstract

A new fuzzy controller for stabilization control of inverted pendulum systems is presented based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference model. The fuzzy controller has four input items, each with a SIRM and a dynamic importance degree. The SIRMs and the dynamic importance degrees are designed such that pendulum angular control has priority over cart position control. It is made clear that the fuzzy controller performs the pendulum angular control and the cart position control in parallel, and switching between the two controls is realized by automatically tuning the dynamic importance degrees according to control situations. The simulation results show that the proposed fuzzy controller has a high generalization ability to stabilize completely a wide range of the inverted pendulum systems within 9.0 s for an initial angle up to 30.0°.