Stabilization control of series-type double inverted pendulum systems using the SIRMs dynamically connected fuzzy inference model

Abstract

A new fuzzy controller for stabilizing series-type double inverted pendulum systems is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The controller deals with six input items. Each input item is provided with a SIRM and a dynamic importance degree (DID). The SIRM and the DID are set up such that the angular control of the upper pendulum takes the highest priority order over the angular control of the lower pendulum and the position control of the cart when the relative angle of the upper pendulum is big. By using the SIRMs and the DIDs, the control priority orders are automatically adjusted according to control situations. Simulation results show that the controller stabilizes series-type double inverted pendulum systems of different parameter values in about 10.0 s for a wide range of the initial angles.