| Hardware implementation of the quadruple inverted pendulum with single motor |
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| 作者姓名： | LI Hongxing WANG Jiayin FENG Yanbin GU Yundong |
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| 作者单位： | Department of Mathematics, Beijing Normal University, Beijing 100875, China,Department of Mathematics, Beijing Normal University, Beijing 100875, China,Department of Mathematics, Beijing Normal University, Beijing 100875, China,Department of Mathematics, Beijing Normal University, Beijing 100875, China |
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| 基金项目： | 国家自然科学基金，国家自然科学基金，国家重点基础研究发展计划(973计划)，the Research Fund for the Doctoral Program of Higher Education of China |
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| 摘 要： | Inverted pendulums are always used to verify some qualities and effect of certain control theory or method. Single or double inverted pendulum control system has been extensively studied for education and research purposes. However how to control a triple inverted pendulum is a difficult problem, which just a couple of control experts can solve including us. Undoubtedly, to implement controlling of a quadruple inverted pendulum is a very difficult problem, but we first successfully accomplished it using variable universe adaptive fuzzy control method in August, 2002. In this paper, a controller for a quadruple inverted pendulum is demonstrated using the variable universe adaptive fuzzy control theory.
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| 关 键 词： | nonlinear systems variable universe adaptive fuzzy control interpolation mechanism of fuzzy contro |
Hardware implementation of the quadruple inverted pendulum with single motor |
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| LI Hongxing,WANG Jiayin,FENG Yanbin,GU Yundong.Hardware implementation of the quadruple inverted pendulum with single motor[J].Progress in Natural Science,2004,14(9):822-827. |
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| Authors: | Li Hongxing Wang Jiayin Feng Yanbin GU Yundong |
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| Institution: | Department of Mathematics, Beijing Normal University, Beijing 100875, China |
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| Abstract: | Inverted pendulums are always used to verify some qualities and effect of certain control theory or method. Single or double inverted pendulum control system has been extensively studied for education and research purposes. However how to control a triple inverted pendulum is a difficult problem, which just a couple of control experts can solve including us. Undoubtedly, to implement controlling of a quadruple inverted pendulum is a very difficult problem, but we first successfully accomplished it using variable universe adaptive fuzzy control method in August, 2002. In this paper, a controller for a quadruple inverted pendulum is demonstrated using the variable universe adaptive fuzzy control theory. |
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| Keywords: | nonlinear systems variable universe adaptive fuzzy control interpolation mechanism of fuzzy control triple invertedpendulum quadruple inverted pendulum |
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