A Study on the Adaptive Fuzzy Control of an Inverted Pendulum

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  • Lee, Dong-Bin (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.)
  • 이동빈 (광운대학교 제어계측공학과) ;
  • 고재호 (광운대학교 제어계측공학과) ;
  • 유창완 (광운대학교 제어계측공학과) ;
  • 임화영 (광운대학교 제어계측공학과)
  • Published : 1998.07.20

Abstract

This paper represents fundamental developments in Fuzzy and Neural approaches. The Fuzzy Controller(FC) and plant are cascaded in Adaptive framework. Each of which produces its outputs. The adjustable parameters all pertain to the fuzzy controller is implemented as an Adaptive FC to adjust the environments of the plant. There is an error meaure block which is a difference between the actual state and desired state. We introduce error back propagation algorithm in neural method. To speed up convergence, we follow a steepest decent in the sense that each parameter set update leads to a smaller error measure and is learned by this methodology. Inverted pendulum is a typical testbed to measure the effectiveness of nonlinear control system. finally we simulated the adaptive fuzzy controller to be able to bring back to the upright position of the its angle and angular velocity.

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