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ANFIS controller for double inverted pendulum

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4 Author(s)
Sheng Qiang ; Harbin Inst. of Technol., Harbin ; Qing Zhou ; Gao, X.Z. ; Shuanghe Yu

A mathematical model for the double inverted pendulum is first presented. Then adaptive neural fuzzy inference system based on the state variables fusion is proposed for the control of the double inverted pendulum. The controller uses error back-propagation and least square estimator hybrid training algorithm to adjust the membership functions of each variable, optimize fuzzy rules, and identify the double inverted pendulum. Results show that proposed ANFIS can make the inverted pendulum stable.

Published in:

Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on

Date of Conference:

13-16 July 2008