吉林大学学报(工学版) ›› 2003, Vol. ›› Issue (4): 85-90.

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Multi-model fuzzy control algorithm for balancing of rotation inverted-pendulum

ZU Li-nan, LI Jiang-shu, TIAN Yan-tao   

  1. College of Communication Engineering, Jilin University, Changchun 130025, China
  • Received:2003-01-17

Abstract: A multi model fuzzy controller using the idea of partition running space for open loop and unstable inverted pendulum is presented in this paper.The swing-up and balancing control problems are discussed.Simulation results by using this proposed controller in wide range parameter and environment variation and comparison with those derived from LQR method is given.These results show that this multi-model fuzzy control algorithm can realize robust stable swing up and balancing control.

Key words: rotational inverted pendulum, LQR, fuzzy control, swing-up control algorithm

CLC Number: 

  • TP273+.4
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