International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Neuro-Fuzzy Control of Inverted Pendulum System for Intelligent Control Education

  • Lee, Geun-Hyung (Intelligent Systems and Emotional Engineering(ISEE) Lab, BK21 Mechatronics Group, Chungnam National University) ;
  • Jung, Seul (Intelligent Systems and Emotional Engineering(ISEE) Lab, BK21 Mechatronics Group, Chungnam National University)
  • Received : 2009.04.30
  • Accepted : 2009.11.25
  • Published : 2009.12.25
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Abstract

This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education. Control purpose is to satisfy balancing angle and desired trajectory tracking performance. The adaptive neuro-fuzzy controller has the Takagi-Sugeno(T-S) fuzzy structure. Back-propagation algorithm is used for updating weights in the fuzzy control. Control performances of the inverted pendulum system by PID control method and the adaptive neuro-fuzzy control method are compared. Control hardware of a DSP 2812 board is used to achieve the real-time control performance. Experimental studies are conducted to show successful control performances of the inverted pendulum system by the adaptive neuro-fuzzy control method.

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