TITLE:
Simulation of a Triple Inverted Pendulum Based on Fuzzy Control
AUTHORS:
Wei Chen, Nkurunziza Theodomile
KEYWORDS:
Triple Inverted Pendulum, Fuzzy Control, LQR, Matlab Simulation
JOURNAL NAME:
World Journal of Engineering and Technology,
Vol.4 No.2,
May
23,
2016
ABSTRACT: The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. This paper studies the use of fuzzy control method to study the stability control problem of a triple inverted pendulum system. By the linear model of the system, the feedback weight matrix of the LQR optimal control and the feedback parameters of the linear optimal control are designed to determine the parameters of the fuzzy controller. The simulation results show that the proposed method can achieve the stability control of the three stage inverted pendulum, and has good dynamic performance with simple parameter selection.