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期刊论文
Variable universe adaptive fuzzy control on the quadruple inverted pendulum1
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This paper focuses on the control problem of the quadruple inverted pendulum by variable universe adaptive fuzzy control that is firstly proposed in [3-5]. First, the mathematical model on the quadruple inverted pendulum is described and its controllability is verified. Then, an efficient controller on the quadruple inverted pendulum is designed by using variable universe adaptive fuzzy control theory. At last, the simulation of the quadruple inverted pendulum is well shown in detail. Besides, the experiment results on the hardware systems, i.e., real object systems, on a single inverted pendulum, a double inverted pendulum and a triple inverted pendulum are briefly introduced.
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