Fuzzy control of a double inverted pendulum based on information fusion

Abstract

Inverted pendulum system is a typical rapid, multivariable, nonlinear, absolute instability and non-minimum phase system, and it is a favorite problem in the field of control theory and application. In its control, the current main control method includes in fuzzy control, variable structure control and robust control etc. For fuzzy control of a double inverted pendulum, the research is focused on how to solve the “rule explosion” problem. The model and characteristics of the system are detailed analyzed; a status fusion function is designed using information fusion. By using it, the output variables of the system with six dimensions is synthesized as two variables: error and variation of error. From the fuzzy control theory, we also design the fuzzy controller of the double inverted pendulum system in MATLAB, and carried out the system simulation in Simulink, results show that the method is feasible.