A New Fuzzy Evidential Controller for Stabilization of the Planar Inverted Pendulum System
In order to realize the stability control of the planar inverted pendulum system, which is a typical multi variable and strong coupling system, a new fuzzy evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine point controller for the rod and a fuzzy nine point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy evidential coordinator is proposed. In this new fuzzy evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method.
PloS one