A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System.

ABSTRACT: In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference.

SUBMITTER: Tang Y 

PROVIDER: S-EPMC4970802 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature