An Improvement of Uprising Method of Pole in the Fuzzy Control of Cart-Pole System

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  • カート・ポール系ファジィ制御におけるポール立ち上げ方式の改善
  • カート ポールケイ ファジィ セイギョ ニ オケル ポール タチアゲ ホウシキ

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Abstract

<p>The state vector separation type fuzzy control system of cart-pole system inculdes hard type and soft type. Hard type is a system making the state vector controller of pole system effective in all topological space of pole. As for soft type, this controller works only in the limitted handstand domain and hanging down domain effective for controlling, and 2 domain outside is a system to take in natural behavior of a pole as the non-control area. A problem of hardtype is that useless travelling of a cart is generated so that the controller tries hard in all topological space of pole. A merit of soft type is that useless travelling of a cart is not generated. Because the system stops controlling in an excessive state of work in order to permit naturally behaving of a pole, and performs efficient control for uprising and invertedly stabilizing the pole in limit area.This paper demonstrates effectiveness of soft type system by numerical simulation, and provides design knowledges on soft type fuzzy control system of cart-pole system.</p>

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