Abstract
This paper describes the swing-up trajectory learning and motion control of an inverted pendulum control robot based on fuzzy logic. The learning algorithm obtaining the optimal swing-up trajectory of the inverted pendulum is constructed based on fuzzy logic. From the experimental results, it is confirmed that the optimal swing-up trajectory can be obtained by the present fuzzy learning algorithm. The swing-up and stabilizing fuzzy control system is constructed with the variable-gain fuzzy logic controller and the velocity feedback loops. Then the experimental results for the swing-up and stabilizing fuzzy control are shown, and the excellent performance of the present fuzzy motion control system is clarified. Furthermore, a numerical simulation has been carried out, and the numerical simulation results agree well with the experimental results.
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