ファジィ理論に基づく倒立振り子制御ロボットの振り上げ軌道の学習と運動制御

概要

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This paper describes the swing-up trajectory learning and motion control of an inverted pendulum control robot based on fuzzy logic. The learning algorithm obtaining the optimal swing-up trajectory of the inverted pendulum is constructed based on fuzzy logic. From the experimental results, it is confirmed that the optimal swing-up trajectory can be obtained by the present fuzzy learning algorithm. The swing-up and stabilizing fuzzy control system is constructed with the variable-gain fuzzy logic controller and the velocity feedback loops. Then the experimental results for the swing-up and stabilizing fuzzy control are shown, and the excellent performance of the present fuzzy motion control system is clarified. Furthermore, a numerical simulation has been carried out, and the numerical simulation results agree well with the experimental results.
一般社団法人日本機械学会の論文
1992-11-25