Simulation of spring-connected inverted pendulum by the adaptive fuzzy controller based on variable universe

摘要

This paper focuses on the control problem of spring-connected inverted pendulum by variable universe adaptive fuzzy control that is proposed in [3, 5]. First, the mathematical model on the n -order spring-connected inverted pendulum is described and its controllability is verified when n = 3. Then, an efficient controller on the triple spring-connected inverted pendulum is designed by using variable universe adaptive fuzzy control theory. At last, the simulation is well shown in detail.