SIRMS dynamically connected fuzzy inference model applied to stabilization control of inverted pendulum and cart systems

Abstract

A fuzzy controller for stabilizing inverted pendulum and cart systems is presented based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference modal. The controller has a simple structure, and can smoothly realize in parallel the pendulum angular control and the cart position control. For any inverted pendulum and cart system, of which the pendulum length is among [0.2 m, 2.2 m] the pendulum mass and the cart mass are separately larger than or equal to 0.001 kg and 0.002 kg, and the mass ratio of the pendulum to the cart is among [0.005; 0.500], the controller is proved to have a high generalization ability to stabilize the object completely in about 8.0 seconds.