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Reduced dimension fuzzy controller design based on fusion function and application in rotary inverted pendulum

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3 Author(s)
Abhishek Kumar ; Electron. & Comput. Dept., IIT Roorkee, Roorkee, India ; Yogesh Kumar ; R. Mitra

This paper develops fuzzy method for control of the rotary inverted pendulum (RIP) using linear fusion function based on LQR mapping. The research is focused on how to solve the problem of “rule explosion”. By using fusion, the output variables of the system with four dimensions are synthesized as two variables: error and variation of error. The method is applied to the approximate linear model, and the experimental results show that the system's response rate is well improved and the robustness is also enhanced.

Published in:

Computing Communication & Networking Technologies (ICCCNT), 2012 Third International Conference on

Date of Conference:

26-28 July 2012