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http://dx.doi.org/10.5391/JKIIS.2006.16.3.349

A Cooperative Fuzzy and CMAC Control for Cartpole System  

Kwon Sung-Gyu (계명대학교 기계자동차공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.16, no.3, 2006 , pp. 349-356 More about this Journal
Abstract
A cartpole system is controlled by a control system consisting of two fuzzy controllers cooperating by a CMAC. Each controller uses 2 different input variables and yields the control force provided to the CMAC. The cooperation is due to training of the CMAC supervised by a judge which selects training information for the CMAC between two fuzzy controllers. The control scheme could be appreciated in terms of the tight structure of the controller, simple cooperating scheme due to the CMAC training, and accomplishing control goal that could not be attained by individual controllers.
Keywords
CMAC; Cooperative Fuzzy Control; Cartpole System; Inverted Pendulum;
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