ANFIS Based Controller for Double Inverted Pendulum System with Payload
作者单位：Mechatronics and Robotics Engineering DepartmentSchool of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt
会议名称：《2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)》
会议日期：2011年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
基 金：supported by a scholarship from the Mission Department Ministry of Higher Education of the Government of Egypt which is gratefully acknowledged
关 键 词：fuzzy control double inverted pendulum with payload fuzzy rules number problem
摘 要：The swing up and stabilization of inverted pendulum systems represents a challenge task for *** more the number of links,the more difficult is to control the ***,we propose a double inverted pendulum system with a payload of significant mass attached to the second *** mass addition is not only to increase the complexity of the control problem,but also has significant effect on the development of applications that are simply modeled with inverted pendulum systems such as humanoid robots and mobile *** ANFIS controller based on the training from an optimal LQR controller is introduced to stabilize the system around the equilibrium *** rule numbers explosion of the ANFIS controller is solved by combining the system variables into only two states;the error and error *** performance of the ANFIS controller is compared with the optimal one,which shows better performance,covering wider range,and much more robustness against disturbances.