Stabilization Control of Inverted Pendulum and Cart Systems by SIRMs Dynamically Connected Fuzzy Inference Model

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  • YI Jianqiang
    Technology Research Center, Mycom, Inc.
  • YUBAZAKI Naoyoshi
    Technology Research Center, Mycom, Inc.
  • HIROTA Kaoru
    Dept.of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology

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Other Title
  • SIRMs動的重視度結合型ファジィ推論モデルによる倒立振子システムの安定化制御
  • SIRMs ドウテキ ジュウシド ケツゴウガタ ファジィ スイロン モデル ニ ヨル トウリツ フリコ システム ノ アンテイカ セイギョ

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<p>SIRMs(Single Input Rule Modules)dynamically connected fuzzy inference model is applied to inverted pendulum and cart systems, and is shown to be effective even though the control objects have 4 input items. A fuzzy controller for stabilizing inverted pendulum and cart systems is constructed by taking the control features of the objects into consideration in the design of the SIRMs and the dynamic importance degrees. The controller can smoothly realize in parallel the angular control of the pendulum and the position control of the cart in a very natural way without reasoning a virtual target angle. For any inverted pendulum and cart systems, of which the pendulum length is between [0.2m, 2.2m], the pendulum mass is larger than or equal to 0.001kg, the cart mass is larger than or equal to 0.002kg, and the mass ratio of the pendulum to the cart is between [0.005, 0.500], the controller is shown to have a very high generalization ability to stabilize the objects completely in about 8 seconds when the initial angle of the pendulum is between [-30.0°, +30.0°], or the initial position of the cart is between [-2.25m, +2.25m].</p>

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