Fuzzy Logic Controller for the Inverted Pendulum Problem '

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Fuzzy Logic Controllerfor the Inverted Pendulum
Problem .
Project

• by Larry Bush

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Why?
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Simulator
Simulator
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Problem Statement
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Re-statement

• To improve the model.

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(No Transcript)
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Consequent MFs

• cp fn ( 17, -5.4 5.4 )
• Evenly Spaced
• Horizontally Symmetrical
• Orthogonal
• Trapezoidal
• Support 3 x Core

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Rule-Base
  cmf(i, j, k, l) cp(i j k l - 3)
for i, j, k, l 1 5
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2 Dimensions
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Rule-Base
  cmf(i, j, k, l) cp( i (j-1) (-k5)
(-l5) )
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Rule-Base
  cmf( 1, 1, 1, 1 ) cp( i (j-1) (-k5)
(-l5) ) cp( 9 ) Force 0
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Rule-Base
Angle is large positive. Angular Velocity is
large positive. Cart Position is large
negative. Cart Velocity is large negative. cmf(
5, 5, 1, 1 ) cp( i (j-1) (-k5) (-l5)
) cp( 17 ) Force large positive
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Rule-Base
Angle is small positive. Angular Velocity is
small positive. Cart Position is zero. Cart
Velocity is zero. cmf( 4, 4, 3, 3 ) cp( i
(j-1) (-k5) (-l5) ) cp( 11 ) Force
small positive
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Neural Net
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(No Transcript)
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Demo
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Take Aways

• Fuzzy Controllers Work
• 4-input, 5-MF
• Work the Best
• Computationally Expensive
• Difficult to Tune
• Automated Tuning Techniques Work

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End
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Questions/Facts