Upswing and stabilization control of inverted pendulum system based on the SIRMs dynamically connected fuzzy inference model

Abstract

A new fuzzy controller is presented based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model for upswing and stabilization control of inverted pendulum system. The fuzzy controller takes the angle and angular velocity of the pendulum and the position and velocity of the cart as its input items, and the driving force as its output item. Each input item is assigned with a SIRM and a dynamic importance degree. When the pendulum locates at the pending domain, the fuzzy controller becomes an upswing controller by using the saturation feature of the membership functions of the pendulum angle. When the pendulum locates at the upright domain, the fuzzy controller then becomes a stabilization controller and realizes smoothly the pendulum angular control and the cart position control in parallel by using the SIRMs and the dynamic importance degrees. The fuzzy controller has a simple structure and is easily understandable compared with the other approaches. Simulation results show that the fuzzy controller can swing up the pendulum from the pending position and then stabilize the whole system in about 3.0 s.