Abstract
This paper deals with the design of a fuzzy controller for a double inverted pendulum (DIP). The DIP model used is based on the Lagrange — Euler equation. Various design methods are described where the hierarchical approach is chosen for the controller design. The whole problem is decomposed into two hierarchical levels. The higher level serves as a supervisor which enables broader criteria to be taken into consideration, which is necessary for the control strategy of such a system. The Matlab Fuzzy Logic Toolbox was used for the algorithm implementation and the control quality evaluation of the performed experiments.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Aptronix Inc.: Two Stage Inverted Pendulum. http://www.aptronix.com/fuzzynet
Bernet, F.-Mathiuet, F.: Doppelpendel mit Fuzzy-Regelung (diploma thesis-in German). ISBB, Basel, Switzerland, 1996, pp. 79.
Kluge, M.-Thoma, M.: Beobachtergestützte Regelung eines Doppelpendels (in German). R. Oldenbourg Verlag, Automatisierungstechnik, N. 39, 1991, pp. 304–309.
Kováčik, P.-Betka, F.: Application Possibilities of Artificial Intelligence in Aviation Systems of Aeroplanes (in Slovak). Proc. of Scientific Conference: Informatics and Algorithms’ 98, Prešov, Slovakia, 1998, pp. 99–102.
Langari, R.: Integration of fuzzy control within hierarchical structured control systems. IEEE Trans. Com. Intel., 1994, pp. 293–303.
Yamakita, M.-Iwashiro, M.-Sugahara, Y.-Furuta, K.: Robust Swing Up Control of Double Pendulum. Proc. of American Control Conference, Seatle, 1996, pp. 290–295.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Vaščák, J. (1999). Fuzzy Control of a Physical Double Inverted Pendulum Model. In: Reusch, B. (eds) Computational Intelligence. Fuzzy Days 1999. Lecture Notes in Computer Science, vol 1625. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48774-3_54
Download citation
DOI: https://doi.org/10.1007/3-540-48774-3_54
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66050-7
Online ISBN: 978-3-540-48774-6
eBook Packages: Springer Book Archive