Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on The Control of A Rotary Inverted Pendulum Using Fuzzy

Fuzzy를 이용한 Rotary Inverted Pendulum의 제어에 관한 연구

  • Choi, Seung-Gyu (Dept. of Control and Instrumentation Eng. Kwangwoon Univ.) ;
  • Ko, Jae-Ho (Dept. of Control and Instrumentation Eng. Kwangwoon Univ.) ;
  • Ryu, Chang-Wan (Dept. of Control and Instrumentation Eng. Kwangwoon Univ.) ;
  • Yim, Wha-Yeong (Dept. of Control and Instrumentation Eng. Kwangwoon Univ.)
  • 최승규 (광운대학교 제어계측공학과) ;
  • 고재호 (광운대학교 제어계측공학과) ;
  • 유창완 (광운대학교 제어계측공학과) ;
  • 임화영 (광운대학교 제어계측공학과)
  • Published : 1998.07.20
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Abstract

This paper consider fuzzy control of a single-inverted pendulum attached to the tip end of a rotating arm driven by a direct driven motor. Control objectives stabilization of the pendulum at the upright position and regulation of the arm at an arbitrary specified position. Fuzzy control is an effective method to achieve multiple control objectives in control of nonlinear systems. In this paper, fuzzy logic control is proposed to obtain increased control performance and stability.

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