Single Input Variable Universe Fuzzy Controller with Contraction-Expansion Factor for Inverted Pendulum in Real Time

• Main Author: Yogesh Kumar Dhanni
• Format: Article
• Language: English
• Published: VSB-Technical University of Ostrava 2012-01-01
• Series: Advances in Electrical and Electronic Engineering
• Subjects: contraction-expansion factor; inverted pendulum; single input fuzzy controller; variable universe.
• Online Access: http://advances.utc.sk/index.php/AEEE/article/view/657

In Conventional Fuzzy Logic Controller (CFLC), input variables are <em>the error (E)</em> and <em>the change-in-error (EC)</em> regardless of the complexity of controlled plant. The rule table constructed for CFLC is two dimensional in input space. This two dimensional rule table can be reduced to single dimension by the signed distance method. This method also reduces the number of rules significantly. In this paper a fuzzy controller is designed with <em>the signed distance</em> input variable. Then to improve the performance of this controller the technique of variable universe of discourse is used. After using these two techniques simultaneous to design a fuzzy controller, it is implemented to stabilize inverted pendulum in real time.