Upswing and stabilization control of inverted pendulum system based on the SIRMs dynamically connected fuzzy inference model

摘要

A new fuzzy controller is presented based on the singe input rule modules (SIRMs) dynamically connected fuzzy inference model for upswing and stabilization control of inverted pendulum system. The fuzzy controller takes the angle and angular velocity of the pendulum and the position and velocity of the cart as its input items, and the driving force as its output item. Each input item is assigned with a SIRM and a dynamic importance degree. When the pendulum locates at the pending Domain, the fuzzy controller becomes an upswing controller by using he saturation feature of the membership functions of The pendulum angle.