Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Adaptive Fuzzy Control of Inverted Pendulum Using the Sugeno-Type of Fuzzy Logic

Sugeno 형태의 퍼지 논리를 이용한 도립 진자의 적응 퍼지 제어

  • Park, Hae-Min (Dept. of Electrical Engineering, Dongguk University) ;
  • Won, Sung-Woon (Dept. of Electrical Engineering, Dongguk University) ;
  • Kim, Young-Tae (Dept. of Electrical Engineering, Dongguk University)
  • 박해민 (동국대학교 전기공학과) ;
  • 원성운 (동국대학교 전기공학과) ;
  • 김영태 (동국대학교 전기공학과)
  • Published : 2002.11.30
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Abstract

This paper proposes the control problem of an inverted pendulum system based on Sugeno-Type of fuzzy logic. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.

Keywords