대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

퍼지 PID 제어기를 이용한 도립진자 제어

Control of a Inverted Pendulum Using Fuzzy-PID Controller

  • 신자호 (광운대학교 제어계측공학과) ;
  • 홍대승 (광운대학교 제어계측공학과) ;
  • 유창완 (광운대학교 제어계측공학과) ;
  • 고재호 (광운대학교 제어계측공학과) ;
  • 임화영 (광운대학교 제어계측공학과)
  • Shin, Ja-Ho (Dep. Of Control & Instrumentation Eng. KwangWoon Univ.) ;
  • Hong, Dae-Seung (Dep. Of Control & Instrumentation Eng. KwangWoon Univ.) ;
  • Ryu, Chang-Wan (Dep. Of Control & Instrumentation Eng. KwangWoon Univ.) ;
  • Ko, Jae-Ho (Dep. Of Control & Instrumentation Eng. KwangWoon Univ.) ;
  • Yim, Wha-Yeong (Dep. Of Control & Instrumentation Eng. KwangWoon Univ.)
  • 발행 : 1999.07.19
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초록

This paper describes the development of a fuzzy gain scheduling scheme of PID controller for inverted pendulum system. Fuzzy rules and reasoning are utilized on-line to determine the controller parameters based on the error signal and its difference. Simulation results demonstrate that better control performance can be achieved in comparison with PID controller using pole placement to control of a Inverted pendulum.

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