Hybrid Fuzzy Logic and Adaptive LQR Controller for Swing-up, Positioning and Stabilization of Inverted Pendulum

摘要

This paper presents the design and practical implementation of a hybrid fuzzy logic and adaptive linear-quadratic controller (LQR) for a real inverted short pendulum system. We present an extended swing-up approach using fuzzy controller and then discuss an adaptive LQR realization which takes into account nonlinearities while passing the transient process to the upward position of the short pendulum which is mounted on a cart. So long as the cart's configuration space is restricted by boundary conditions the controller also solves the positioning task, during which the cart returns to the centre of cart's configuration space. We also discuss the practical realization of such controller logic, embedded into 32-bit microcontroller with the algorithm reaction of 1 ms.