Human Simulated Intelligent Controller with Fuzzy Online Self-Tuning of Parameters and its Application to a Cart-Double Pendulum

Abstract

Using the basic concepts and design methods of Human Simulated Intelligent Control (HSIC), we have designed the master control level of an HSIC controller for the swinging-up and handstand control of a cart-double pendulum. Then, the self-tuning structure of the self-tuning level of the HSIC Controller is implemented using fuzzy logic rules. This structure has fuzzy self-tuning abilities in the swing-up control of a cart-double pendulum system and achieves online self-tuning of the control parameters of the HSIC controller efficiently with a hierarchical and multimode control structure. The computer simulation and realtime experiments of the swing-up control of a cart-double pendulum system show that the fuzzy online self-tuning of the control parameters markedly enhances the robustness and adaptability of the HSIC.