Fuzzy Identification of an Inverted Pendulum
Abstract
The establishment of a well-behaved fuzzy model implies the completion of two major tasks: generation of fuzzy rule base and selection of membership function parameters. In this document, a time domain state space fuzzy identifier of an inverted pendulum is presented. First, rule base is generated by using cell to cell mapping method, in which the rules are generalized from the actual system trajectories. Then, a supervised learning method is used to fine tune the parameters of the membership functions. The learning method is derived directly from the gradient descent approach. Training data are collected from the actual system input-output behavior, and three training techniques are presented: the fixed learning rate method, the time-variant learning rate method, and the conjugate-gradient method. The learning results of all the methods are presented and compared.
Recommended Citation
D. Wang and L. Acar, "Fuzzy Identification of an Inverted Pendulum," Intelligent Engineering Systems through Artificial Neural Networks, vol. 8, pp. 231 - 236, American Society of Mechanical Engineers (ASME), Nov 1998.
Meeting Name
Artificial Neural Networks in Engineering Conference, ANNIE '98 (1998: Nov. 1-4, St. Louis, MO)
Department(s)
Electrical and Computer Engineering
Keywords and Phrases
Fuzzy Model; Fuzzy Rule Base; Inverted Pendulum; Membership Function Parameters
International Standard Book Number (ISBN)
978-0791800829
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 1998 American Society of Mechanical Engineers (ASME), All rights reserved.
Publication Date
01 Nov 1998
