Vladimir Stanovov
Reshetnev Siberian State University of Science and Technology
Russian Federation
e-mail: vladimirstanovov@yandex.ru
Abstract:
In this paper an adaptive genetic algorithm for fuzzy controller design is proposed. The problem of rotary inverted pendulum stabilization and swing-up sequence is considered. The genetic algorithm is used to determine the structure of the fuzzy rule base, which is then used to control the pendulum. The experiments on a model show that the success-history adaptive genetic algorithm is capable of automatic search for an optimal rule base with no prior expert knowledge about the system dynamics.
Key words:
Fuzzy control
rotary inverted pendulum
genetic algorithm
parameter adaptation