Browse > Article
http://dx.doi.org/10.5391/JKIIS.2008.18.2.236

Design of Optimized Fuzzy Controller by Means of HFC-based Genetic Algorithms for Rotary Inverted Pendulum System  

Jung, Seung-Hyun (수원대학교 전기공학과)
Choi, Jeoung-Nae (수원대학교 전기공학과)
Oh, Sung-Kwun (수원대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.2, 2008 , pp. 236-242 More about this Journal
Abstract
In this paper, we propose an optimized fuzzy controller based on Hierarchical Fair Competition-based Genetic Algorithms (HFCGA) for rotary inverted pendulum system. We adopt fuzzy controller to control the rotary inverted pendulum and the fuzzy rules of the fuzzy controller are designed based on the design methodology of Linear Quadratic Regulator (LQR) controller. Simple Genetic Algorithms (SGAs) is well known as optimization algorithms supporting search of a global character. There is a long list of successful usages of GAs reported in different application domains. It should be stressed, however, that GAs could still get trapped in a sub-optimal regions of the search space due to premature convergence. Accordingly the parallel genetic algorithm was developed to eliminate an effect of premature convergence. In particular, as one of diverse types of the PGA, HFCGA has emerged as an effective optimization mechanism for dealing with very large search space. We use HFCGA to optimize the parameter of the fuzzy controller. A comparative analysis between the simulation and the practical experiment demonstrates that the proposed HFCGA based fuzzy controller leads to superb performance in comparison with the conventional LQR controller as well as SGAs based fuzzy controller.
Keywords
RIPS(Rotary Inverted Pendulum System); HFCGA(Hierarchical Fair Competition-based Genetic Algorithms); LQR(Linear Quadratic Regulator); optimized fuzzy controller;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Zhen-yu Zhao, Massayoshi Tomizuka, Satoru Isaka. "Fuzzy Gain Scheduling of PID Controllers," IEEE Transactions on systems, man and Cybernetic. Vol. 23, No. 5, Sep./Oct. 1993
2 K. Passino i S. Yurkovich, "Fuzzy Control", Addison-Wesley Longman, Ohio 1998
3 K.-K. Jin, "Genetic Algorithms and Their Applications", KyoWoo Press, 2002
4 R. Lohmann, " Application of Evolution Strategy in Parallel Populations," Parallel Problem Solving from Nature, Vol. 496, pp198-208, 1991
5 J. Hu, E. Goodman, K. Seo, Z, Fan, R. Rosenberg, " The Hierarchical Fair Competition (HFC) Framework for Continuing Evolutionary Algorithms," Evolutionary Computation, The MIT Press, Vol. 13, Issue 2, pp 241-277, 2005   DOI   ScienceOn
6 F. Grasser, A. D. Arrigo, S. Colombi, and A. C. Rufer, "JOE: a mobile, inverted pendulum," IEEE Transactions on Industrial Electronics, Vol. 49, No. 1, pp. 107-114, Feb 2002   DOI   ScienceOn
7 J. Hu, E. Goodman, K. Seo, M. Pei, "Adaptive Hierarchical Fair Competition(AHFC) Model for Parallel Evolutionary Algorithms," Proceedings of Genetic and Evolutionay Computation Conference 2002, New York, July 2002, pp. 772-779
8 S.-K. Oh, "Fuzzy Model & Control System by C-Programming", Naeha Publishing Co., 2002