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Variable universe adaptive fuzzy control on the quadruple inverted pendulum

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Abstract

This paper focuses on the control problem of the quadruple inverted pendulum by variable universe adaptive fuzzy control. First, the mathematical model on the quadruple inverted pendulum is described and its controllability is versified. Then, an efficient controller on the quadruple inverted pendulum is designed by using variable universe adaptive fuzzy control theory. Finally the simulation of the quadruple inverted pendulum is shown in detail. Besides, the experimental results on the hardware systems, i.e. real object systems, on a single inverted pendulum, a double inverted pendulum and a triple inverted pendulum are briefly introduced.

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Authors and Affiliations

  1. Department of Mathematics, Beijing Normal University, 100875, Beijing, China

    Hongxing Li, Miao Zhihong & Wang Jiayin

  2. Department of Mathematics, Sichuan Normal University, 610066, Chengdu, China

    Hongxing Li

  3. Department of Automatic Control, Tsinghua University, 100084, Beijing, China

    Hongxing Li

Authors
  1. Hongxing Li
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  2. Miao Zhihong
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  3. Wang Jiayin
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Correspondence to Hongxing Li.

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Li, H., Zhihong, M. & Jiayin, W. Variable universe adaptive fuzzy control on the quadruple inverted pendulum. Sci. China Ser. E-Technol. Sci. 45, 213–224 (2002). https://doi.org/10.1360/02ye9026

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  • DOI: https://doi.org/10.1360/02ye9026

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