不規則な外力の下での倒立単振子の階層的適応ファジィ制御

概要

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In this paper， we have studied fuzzy control of the railless inverted pendulum in order to get the effective control method of the precarious system. We made a fuzzy rule and control the inverted pendulum with the rule under the condition that there is not extra force. To make effective fuzzy control to the inverted carriage control，we establish two layer control method under the condition that there is the extra force. This control include inverted carriage control， position control, speed control and extra force Inference. The pendulum is control led to become stable， and keep it. At the same time， we discussed fuzzy control under the condition that there is dynamic extra force.
福井大学工学部の論文