The design of improved variable universe fuzzy controller of triple inverted pendulum
一种改进的三级倒立摆变论域模糊控制器设计

In traditional variable universe fuzzy control system, the universe changes with the values of input variables;this damages the response rapidity. What's more, it is difficulty to select the function models for the expansion-contraction factors and their parameters. To deal with the above problems, a fuzzy controller of triple inverted pendulum based on a new variable universe algorithm is designed. First, the idea of comparatively variable fuzzy control is presented. Second, the expansion-contraction factor is constructed based on the fuzzy logic inference rule list, and the output tuning factor is designed based on the closed-loop response curve. Finally, pole assignment method is employed to integrate the states into two variables to avoid the rules explosion problem. The simulation results show, compared with the traditional variable universe fuzzy control, the proposed controller improve the response speed and control precision of the inverted pendulum system.