Hybrid Fuzzy Control of a Pole-Balancing Robot  

Oleh:

Sun, Y.L. ; Er, M.J.

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1762-1767.
Topik: Hybrid Fuzzy Control; Pole Balancing Robot; Fuzzy Rule Base; FRB
Fulltext: AC021603.PDF (257.46KB)

Isi artikel

Stabilization and trajectory tracking of pole-balancing robots are benchmark control problems that many controllers have been trying to address. Since the knowledge of balancing a pole is intuitively understood by human beings, fuzzy controllers can be easily applied on this type of robots. However, strong nonlinearities of the system dynamics and sensitivities to disturbances prevent the control performance from satisfactory. In this paper, we design fuzzy controllers in a hybrid fuzzy control structure. Instead of using a flat linear Fuzzy Rule Base (FRB), a two-layer FRB with chain-reasoning is employed, which leads to a strongly nonlinear but aympototically stable control surface. Simulation studies show that the performance of the proposed controller is superior.

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