A Control of Inverted pendulum Using Genetic-Fuzzy Logic

유전자-퍼지 논리를 사용한 도립진자의 제어

  • 이상훈 ((주)비전컴 중앙연구소) ;
  • 박세준 (목원대학교 공과대학 전자정보통신공학부) ;
  • 양태규 (목원대학교 공과대학 전자정보통신공학부)
  • Published : 2001.09.01

Abstract

In this paper, Genetic-Fuzzy Algorithm for Inverted Pendulum is presented. This Algorithms is combine Fuzzy logic with the Genetic Algorithm. The Fuzzy Logic Controller is only designed to two inputs and one output. After Fuzzy control rules are determined, Genetic Algorithm is applied to tune the membership functions of these rules. To measure of performance of the designed Genetic-Fuzzy controller, Computer simulation is applied to Inverted Pendulum system. In the simulation, In the case of f[0.3, 0.3] Fuzzy controller is measured that maximum undershoot is $-5.0 \times 10^{-2}[rad]$, maximum undershoot is $3.92\times10^{-2}[rad]$ individually however, Designed algorithm is zero. The Steady state time is approximated that Fuzzy controller is 2.12[sec] and designed algorithm is 1.32[sec]. The result of simulation, Resigned algorithm is showed it's efficient and effectiveness for Inverted Pendulum system.