Hierarchical fuzzy logic control of a double inverted pendulum

Lei, Shuliang; Langari, Reza

doi:10.1109/fuzzy.2000.839201

Cited by 10 publications

(4 citation statements)

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“…The method is developed for a wide class of control systems and the feasibility of the method is demonstrated by developing a two-layered HFS for controlling the inverted pendulum system. Other examples of hierarchical fuzzy control applied to the inverted pendulum system can be found in [41][42][43][44][45][46][47]. Related studies, but not applied to the inverted pendulum system, can be found in [47][48][49][50][51][52][53][54][55][56][57][58].…”

Section: Related Workmentioning

confidence: 99%

Selection and impact of different topologies in multi-layered hierarchical fuzzy systems

Zajaczkowski

Verma

2011

Appl Intell

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An evolutionary algorithm based approach for selection of topologies in hierarchical fuzzy systems (HFS) is presented. Coupling fuzzy system with evolutionary algorithm provides a solution to the automated acquisition of the fuzzy rule base. It is difficult to study the problem of hierarchical decomposition for a large class of fuzzy systems but it is possible to analyse such architectures on the example of a particular fuzzy system, such as inverted pendulum. Topology of the HFS must be selected according to the physical properties of the dynamical system under consideration. Different HFS topologies for an inverted pendulum system are investigated and analysed to address the problem of how input configuration in multi-layered structure affects the controller performance. The experiments are conducted to test controller performance for different topologies of the hierarchical fuzzy system. The impact of different topologies on control process is discussed. The results from the case study of inverted pendulum can be extended to other dynamical systems.

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Section: Related Workmentioning

confidence: 99%

Selection and impact of different topologies in multi-layered hierarchical fuzzy systems

Zajaczkowski

Verma

2011

Appl Intell

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“…Combination of hierarchical fuzzy control and sliding mode was presented by Lin and Mon [4]. Other examples of hierarchical fuzzy control applied to the inverted pendulum system can be found in [5] and [6]. Chang et al [7] used the inverted pendulum system as a case study for the robust fuzzy-model-based sliding mode.…”

Section: Related Workmentioning

confidence: 99%

An evolutionary algorithm based approach for selection of topologies in hierarchical fuzzy systems

Zajaczkowski

Verma

2010

IEEE Congress on Evolutionary Computation

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EVWUDFW²This paper presents an evolutionary algorithm based approach for selection of topologies in hierarchical fuzzy systems (HFS). The different topologies of HFS for a given dynamical system such as inverted pendulum are investigated and analysed to address the problem of how input configuration in multi-layered structure affects the controller performance. The experiments are conducted to test controller performance for different topologies of the hierarchical fuzzy system. The impact of different topologies on control process is discussed. The results from case study (inverted pendulum) can be extended to other dynamical systems, in particular to a robotic manipulator. , ,1752'8&7,21 ,QFUHDVLQJ WKH QXPEHU RI LQSXW YDULDEOHV RU LQSXW IX]]\ VHWV UHVXOWV LQ DQ H[SRQHQWLDO LQFUHDVH LQ FRPSOH[LW\ RI WKH UXOH EDVH 7KH GHFRPSRVLWLRQ RI WKH V\VWHP LQWR KLHUDUFKLFDO IX]]\ V\VWHP LV LQWHQGHG WR UHGXFH WKH VL]H RI WKH UXOH EDVH ZKLOH PDLQWDLQLQJ DQ DGHTXDWH DFFXUDF\ /D\HUHG IX]]\ ORJLF V\VWHPV XWLOL]H WKH PRGXODULW\ FKDUDFWHULVLQJ PDQ\ SK\VLFDO V\VWHPV DQG WKHLU PDWKHPDWLFDO PRGHOV 7KH RXWSXW LQÀXHQFHG E\ RQH FORVHO\ UHODWHG JURXS RI LQSXW YDULDEOHV PD\ EH ODUJHO\ LQGHSHQGHQW RI WKH YDOXHV RI RWKHU YDULDEOHV 7KHUHIRUH D OD\HUHG IX]]\ ORJLF V\VWHP FDQ GHFRPSRVH WKH UXOH EDVH DORQJ WKHVH OLQHV RI ZHDN LQWHUGHSHQGHQFH DQG VWLOO PDLQWDLQ D KLJK OHYHO RI DFFXUDF\ ,Q WKLV SDSHU GLIIHUHQW WRSRORJLHV RI +)6 IRU D JLYHQ G\QDPLFDO V\VWHP WKH LQYHUWHG SHQGXOXP V\VWHP DUH LQYHVWLJDWHG DQG DQDO\VHG WR DGGUHVV WKH SUREOHP RI KRZ LQSXW FRQILJXUDWLRQ LQ PXOWLOD\HUHG VWUXFWXUH DIIHFWV WKH FRQWUROOHU SHUIRUPDQFH ([DPLQDWLRQ RI WKH WRSRORJLHV JLYHV LQVLJKW LQWR WKH ZRUNLQJV RI WKH SK\VLFDO V\VWHP DQG LWV FRQWURO V\VWHP )RU WKH LQYHUWHG SHQGXOXP V\VWHP D VLQJOH OD\HU WZR OD\HUV WKUHH OD\HUV DQG IRXU OD\HUV +)6 ZLWK GLIIHUHQW LQSXW FRQILJXUDWLRQV DUH H[DPLQHG DQG FRQWUROOHUVµ SHUIRUPDQFHV FRPSDUHG 7KHUH DUH YDULRXV DSSURDFKHV WR EXLOGLQJ D WRSRORJ\ RI WKH +)6 DQG QR FRQVLVWHQW JXLGHOLQHV KRZ WR GR LW ,Q PRVW FDVHV LW LV KXPDQ LQWXLWLRQ RU H[SHUW NQRZOHGJH 7KH SUHVHQWHG UHVHDUFK FRQWULEXWHV WR GHYHORSPHQW RI SUDFWLFDO DSSOLFDWLRQV LQ URERWLFV 7KH XVH RI KLHUDUFKLFDO IX]]\ V\VWHPV PDNHV SRVVLEOH GHYHORSLQJ D IX]]\ FRQWURO V\VWHP IRU UHDOWLPH LQGXVWULDO DSSOLFDWLRQV IRU H[DPSOH D URERWLF PDQLSXODWRU 7KH UHVXOWV SUHVHQWHG LQ WKLV SDSHU DUH H[WHQVLRQ RI WKH UHVHDUFK SUHVHQWHG LQ >@ 7KH QHZ VLPXODWLRQV IRU WKH OD\HUHG +)6 DUH SUHVHQWHG DQG DQDO\VHG 0DQXVFULSW UHFHLYHG )HEUXDU\ -XOLXV] =DMDF]NRZVNL LV ZLWK &HQWUDO 4XHHQVODQG 8QLYHUVLW\ 5RFNKDPSWRQ $XVWUDOLD ID[ MXOLXV]]DMDF]NRZVNL#FOLPDWHFKDQJHTOGJRYDX %ULMHVK 9HUPD LV ZLWK &HQWUDO 4XHHQVODQG 8QLYHUVLW\ 5RFNKDPSWRQ 4/' $XVWUDOLD HPDLOEYHUPD#FTXHGXDX

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“…The inverted pendulum is one of standard systems for demonstration of high efficient advanced control algorithms. A large number of publications are dealing with erecting and balancing the inverted pendulum using state space controllers, fuzzy controllers [1], neural networks [2,3], etc. [4].…”

Section: Introductionmentioning

confidence: 99%

“…Such a system has a large traversing range and high accelerations can be reached in this arrangement. It is even possible to realize inverted pendulum consisting of two or three links [1].…”

Section: Introductionmentioning

confidence: 99%

Stabilization of the Robot Mounted Inverted Pendulum by Vision Control

Kolker

Winkler

Suchy

2013

AMM

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In this paper the stabilization of the well known inverted pendulum problem by visual control is presented. The pendulum is mounted on the flange of an articulated robot arm. It is observed by camera and its angle of inclination is computed by image processing on a PC. For stabilization a state space controller realized with the standard robot controller is used. In summary, this system can be seen as an example of a robot with visual control. The inverted pendulum is used because it is an adequate controlled system to demonstrate advanced control algorithms. Its implementation with a robot results in some more restrictions in comparison with the pendulum mounted on a linear drive, e.g. in lower acceleration, smaller traversing range and the relatively high cycle time of the commercial robot controller. Furthermore, the integration of the camera in the closed loop control instead of an angular transmitter makes the successful realization more difficult.

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Hierarchical fuzzy logic control of a double inverted pendulum

Cited by 10 publications

References 0 publications

Selection and impact of different topologies in multi-layered hierarchical fuzzy systems

Selection and impact of different topologies in multi-layered hierarchical fuzzy systems

An evolutionary algorithm based approach for selection of topologies in hierarchical fuzzy systems

Stabilization of the Robot Mounted Inverted Pendulum by Vision Control

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