SIRMS dynamically connected fuzzy inference model applied tostabilization control of inverted pendulum and cart systems

摘要

A fuzzy controller for stabilizing inverted pendulum and cartsystems is presented based on the SIRMs (Single Input Rule Modules)dynamically connected fuzzy inference modal. The controller has a simplestructure, and can smoothly realize in parallel the pendulum angularcontrol and the cart position control. For any inverted pendulum andcart system, of which the pendulum length is among [0.2 m, 2.2 m] thependulum mass and the cart mass are separately larger than or equal to0.001 kg and 0.002 kg, and the mass ratio of the pendulum to the cart isamong [0.005; 0.500], the controller is proved to have a highgeneralization ability to stabilize the object completely in about 8.0seconds