A new fuzzy controller for stabilization of parallel-type double inverted

摘要

A new fuzzy controller with 6 input items and 1 output item for stabilizing a parallel-type double inverted pendulum system is presented based on the single input rule modules (SIRMs) dynamically connected fuzzy inference model. Each input item is assigned with a SIRM and a dynamic importance degree. The SIRMs and the dynamic importance degrees are designed such that the angular control of the longer pendulum takes the highest priority over the angular control of the shorter pendulum and the position control of the cart when the angle of the longer pendulum is big.