Man-Machine Co-operation System for Triple Inverted Pendulum by Fuzzy Logic and Genetic Algorithm

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  • ファジィ論理とGAによる三重倒立振子のマン・マシン共同操作システム
  • ファジィ ロンリ ト GA ニ ヨル サンジュウ トウリツ フリコ ノ マン マシン キョウドウ ソウサ システム

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Fuzzy control is very popular at present, but the application field of fuzzy system will be wider if design not only automatic system but also man-machine system. We have studied fuzzy control systems which kept stable a triple inverted pendulum. However, the identification of control rules is so difficult and also their membership functions are so sensitive that their design is not easy. We suggest, in this paper, a man-machine cooperating system where a beginner operator can manipulate easily a triple inverted pendulum assisted by a simple fuzzy controller. We adopt a method to tune the membership function of the fuzzy controller by using genetic algorithm. This tuning create good membership function. As the result, this man-machine cooperation system is that ever a beginner operator can keep stable the triple inverted pendulum. And also, this system improves control performance for the triple inverted pendulum with skilled operator and fuzzy controller.

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