NDLI: Exact fuzzy modeling and optimal control of the inverted pendulum on cart

Content Provider	IEEE Xplore Digital Library
Author	Mohanlal, P.P. Kaimal, M.R.
Copyright Year	2002
Description	Author affiliation: Vikram Sarabhai Space Centre, Trivandrum, India (Mohanlal, P.P.)
Abstract	Presents a method of exact fuzzy (TSK) modeling and optimal control of the inverted pendulum on a cart, which is a benchmark nonlinear dynamic system. Conventionally, the TSK (Takagi-Sugeno-Kang) fuzzy modeling blends local linear models to represent a nonlinear system, which in general does not exactly represent the nonlinear system under consideration. Here, instead of local linear models, a set of 'boundary linear models' and new membership-functions are defined such that the fuzzy blending of these models result in an exact representation of the overall nonlinear system. The SAM theorem of exact fuzzy representation of a scalar function is extended to a class of nonlinear dynamic system. Optimal fuzzy controller design results based on local linear models could be applied for the optimal fuzzy controller design based on 'boundary linear models' where, the fuzzy blending of these boundary linear models gives rise to an exact fuzzy model of the inverted pendulum on the cart. Optimal control laws are designed for each of these fuzzy subsystems, and overall control is again the fuzzy blending of these individual control laws. This procedure results in optimal control solution for the original nonlinear control problem. Optimal fuzzy controller is designed based on this exact fuzzy model and results are compared with a conventional design.
Sponsorship	IEEE Control Syst. Soc
Starting Page	3255
Ending Page	3260
File Size	331160
Page Count	6
File Format	PDF
ISBN	0780375165
ISSN	01912216
DOI	10.1109/CDC.2002.1184373
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Optimal control Fuzzy systems Nonlinear systems Nonlinear dynamical systems Nonlinear control systems Fuzzy sets Control system synthesis Feedback control Stability
Content Type	Text
Resource Type	Article

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