Adaptive Fuzzy Control of Inverted Pendulum with a Fuzzy-Based Set-Point Weighting Scheme

摘要

This paper presents a solution to the control problem of inverted pendulum, in presence of model uncertainties due to its varying pendulum mass and length. Here, a fuzzy PD controller is proposed which is continuously tuned and updated by a non-fuzzy adaptive scheme. In addition to the proposed tuning scheme, a fuzzy-based set-point weighing scheme is also incorporated for effective control in load variations. The application of the proposed fuzzy-based set-point weighting self-adaptive fuzzy PD controller (FSW-SAFPDC) stabilized the pendulum in an upright position in minimum time and the cart returned to its initial position.