[1]ZHAO Xiao-fei,ZHANG Jing-gang.A fuzzy control method for flexiblejoint inverted pendulums[J].CAAI Transactions on Intelligent Systems,2010,5(4):347-352.
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A fuzzy control method for flexiblejoint inverted pendulums

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 4 Page number: 347-352 Column: 学术论文—智能系统 Public date: 2010-08-25
Title:
A fuzzy control method for flexiblejoint inverted pendulums
Author(s):
ZHAO Xiao-fei;  ZHANG Jing-gang
School of Electronics Information Engineering， Taiyuan University of Science and Technology, Taiyuan 030024, China
Keywords:
linear singlestage flexiblejoint inverted pendulum;  fuzzy controller;  fusion function;  fuzzy rule
CLC:
TP273
DOI:
-
Abstract:
Modeling of a linear singlestage flexiblejoint inverted pendulum involves multiple interacting variables. A novel fuzzy control method was proposed that would solve the rule explosion problem by applying a fusion function. The feedback gain matrix, which makes the system stable, was calculated using optimal control theory. Then the fusion function was constructed with a feedback gain matrix which reduced the dimensions of variables passed to the fuzzy controller. Simulations and practical experiments were conducted. The results showed the validity and correctness of the method.
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