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A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System

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  • Yongchuan Tang
  • Deyun Zhou
  • Wen Jiang

Abstract

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate these two controllers of each axis, a fuzzy-evidential coordinator is proposed. In this new fuzzy-evidential controller, the empirical knowledge for stabilization of the planar inverted pendulum system is expressed by fuzzy rules, while the coordinator of different control variables in each axis is built incorporated with the dynamic basic probability assignment (BPA) in the frame of fuzzy inference. The fuzzy-evidential coordinator makes the output of the control variable smoother, and the control effect of the new controller is better compared with some other work. The experiment in MATLAB shows the effectiveness and merit of the proposed method.

Suggested Citation

  • Yongchuan Tang & Deyun Zhou & Wen Jiang, 2016. "A New Fuzzy-Evidential Controller for Stabilization of the Planar Inverted Pendulum System," PLOS ONE, Public Library of Science, vol. 11(8), pages 1-16, August.
    • Handle: RePEc:plo:pone00:0160416
    DOI: 10.1371/journal.pone.0160416
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    References listed on IDEAS

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    Cited by:

    1. Deyun Zhou & Yongchuan Tang & Wen Jiang, 2017. "An Improved Belief Entropy and Its Application in Decision-Making," Complexity, Hindawi, vol. 2017, pages 1-15, March.
    2. Dingyi Gan & Bin Yang & Yongchuan Tang, 2020. "An Extended Base Belief Function in Dempster–Shafer Evidence Theory and Its Application in Conflict Data Fusion," Mathematics, MDPI, vol. 8(12), pages 1-19, December.

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