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2020 IEEE International Conference on Information Technologies

Automatic Design of Fuzzy Controller for Rotary Inverted Pendulum with Success-History Adaptive Genetic Algorithm

Vladimir Stanovov
Reshetnev Siberian State University of Science and Technology
Russian Federation

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