대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 B
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- Pages.684-686
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- 1998
Fuzzy를 이용한 Rotary Inverted Pendulum의 제어에 관한 연구
A Study on The Control of A Rotary Inverted Pendulum Using Fuzzy
- 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.)
- 발행 : 1998.07.20
초록
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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