A self-tuning adaptive resolution (STAR) fuzzy control algorithm

Abstract

A novel Self-Tuning Adaptive Resolution (STAR) fuzzy control algorithm is introduced in this paper. One of the unique features is that the fuzzy linguistic concepts change constantly in response to the states of input signals. This is achieved by modifying the corresponding membership functions. We use this adaptive resolution capability to realize a control strategy that attempts to minimize both the rise time and the overshoot. Simulation results on a simple inverted pendulum problem are presented. Its characteristics are compared with the classical PD controller. Finally, the algorithm is also realized to control a red inverted pendulum hardware. Experimental results show that the STAR controller is both robust and can minimize positional error with drastically reduced overshoot. 0-7803-1896-X/94 $4.00 01994 IEEE 1508