This paper presents a novel high order derivative fuzzy control architecture. This architecture uses a three input error, derror, dderror structure which has proven to be successful in controlling a double inverted pendulum system. The control system may be automatically generated from the required granularity of the input and output variables, making the specification of the control rules a less tedious process. A neural network tuning process is applied to the fuzzy controller in order to optimize the performance. The novel three dimensional (error, derror, dderror) fuzzy controller application to the double inverted pendulum in real time on a physical system is presented in detail.
|Title of host publication||Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS|
|Number of pages||6|
|Publication status||Published - 1 Jan 1998|