Single inverted pendulum system design based on genetic algorithm and reduced fuzzy control

Abstract

The paper introduces the mathematical model of the single inverted pendulum based on the Lagrange equation, and the model considers the friction existed in the real system. The control system of inverted pendulum is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy control method. Because the dynamic importance degrees are set in SIRMs to ensure that the angular control of the pendulum takes priority over the position control of the cart, the pendulum doesn't lose the stability in controlling the angular and position at the same time. Four input scale factors and one output scale factor of SIRMs are optimized based on an improved genetic algorithm, and accordingly optimum design of SIRMs is achieved and the adaptive capacity is enhanced. The simulation experiments based on the SIRMs are carried out on Vissim platform. The simulation results show that the SIRMs control system whose parameters were optimized by genetic algorithm has better control performances, and the pendulum control and the cart position control can be quickly stabilized. The robustness of the system is strong, and the system has more better dynamic and static characteristics.