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2019 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
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