In this paper, an adaptive fuzzy logic based control scheme is introduced for the inverted pendulum motion and posture control problem. The adaptive control strategy consists of a Lyapunov stability-based online adaptation technique that leads to motion tracking and posture control. Unlike other control strategies, no a priori offline training, weights initialization, or parameters knowledge is required. Simulation results for different situations highlight the performance of the proposed controller in compensation for external disturbance and friction nonlinearities

Additional Metadata
Persistent URL dx.doi.org/10.1109/COASE.2010.5584022
Conference 2010 IEEE International Conference on Automation Science and Engineering, CASE 2010
Citation
Chaoui, H, & Sicard, P. (Pierre). (2010). Adaptive fuzzy logic motion and posture control of inverted pendulums with unstructured uncertainties. In 2010 IEEE International Conference on Automation Science and Engineering, CASE 2010 (pp. 638–643). doi:10.1109/COASE.2010.5584022