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International journal of fuzzy logic and intelligent systems : IJFIS v.9 no.2, 2009년, pp.154 - 160  
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Two Fuzzy Controllers Alternating for Cartpole System

Kwon, Sung-Gyu    (Faculty of Mechanical and Automotive Engineering Keimyung University  );
  • 초록

    A control system composed of two fuzzy controllers is proposed to balance the pole as well as to move the cart to the center of the track of the cartpole system. The two fuzzy controllers are designed with 2 input variables respectively and their control characters are studied in order to devise a control scheme that alternates the two fuzzy controllers. It is found that the control system using the scheme works well even though there is some residual oscillations of the pole and the cart.


  • 주제어

    Cartpole system .   fuzzy control .   inverted pendulum .   cooperative fuzzy control.  

  • 참고문헌 (18)

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    4. Kwon, S., "Two Alternate Fuzzy Controllers for Cartpole System," Proceedings of Sixth International Conference on Machine Learning Cybernetics, Hong Kong, pp. 623-630, 19-22 August 2007 
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    8. J. S. Albus, "A New Approach to Manipulator Control; The Cerebellar Model Articulation Controller (CMAC)," Journal of Dynamic Systems,Measurement, and Control, Transactions of the ASME, Series G, Vol. 97, No. 3, pp. 220-227, September 1975 
    9. Kwon, S., "BOXES-based Cooperative Fuzzy Control for Cartpole System," International Journal of Fuzzy Logic and Intelligent Systems, Vol. 7, No. 1, pp. 22-29, March 2007     
    10. Liu, J., Liu, Ding., Zhang, G.-G., and Wu, P.-S., "An Optimal Design of Fuzzy Controller for High Power Oil Transfer System," Proceedings of the First International Conference on Machine Learning and Cybernetics, pp. 699-704, 4-5, November 2002 
    11. Yamakawa, T., "A Fuzzy Inference Engine in Nonlinear Analog Mode and Its Application to a Fuzzy Logic Control," IEEE Transactions on Neural Networks, Vol. 4, No. 3, pp. 496-522, May 1993 
    12. Lee, C.-C., "A Self-Learning Rule-Based Controller Employing Approximate Reasoning and Neural Net Concepts," International Journal of Intelligent Systems, Vol. 6, pp. 71-93, 1991 
    13. Michie, D. and Chambers, R. A., "'BOXES' as a Model of Pattern-Formation," in Towards a Theoretical Biology, Vol. 1, Prolegomena, C. H. Waddington, Ed., Edinburgh: Edinburgh Univ. Press, pp. 206-215, 1968 
    14. C. L. Karr, Practical Applications of Computational Intelligence for Adaptive Control, CRC Press, pp. 29-40, 1999 
    15. Passino, K. M., Biomimicry for Optimization, Control, and Automation, Springer-Verlag London Limited, pp. 222-223, 2005 
    16. Jang, J. R., "Self-Learning Fuzzy Controllers Based on Temporal Back Propagation," IEEE Transactions on Neural Networks, Vol. 3, No. 5, pp. 714-723, September 1992 
    17. Jun, H. B., Lee, D. W., Kim, D. J. and Sim, K. B., "Fuzzy Inference-based Reinforcement Learning of Dynamic Recurrent Neural Networks," Proceedings of the 36th SICE Annual Conference, International Session papers, pp. 1083-1088, 29-31 July 1997 
    18. Deng, Z., Zhang, Z., and Jia, P., "A Neural-Fuzzy BOXES Control System with Reinforcement Learning and its Application to Inverted Pendulum," IEEE International Conference on Intelligent Systems for the 21st Century, Vol. 2, pp. 1250-1254, Oct. 22-25 1995 

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  • 권성규 (12)

    1. 1996 "CMAC의 S-to-M 변환을 위한 알고리즘" 大韓機械學會論文集. Transactions of the Korean Society of Mechanical Engineers. A. A 20 (10): 3135~3141    
    2. 1996 "고차원 CMAC 문제의 소요 기억량 감축" 퍼지 및 지능시스템학회 논문지 = Journal of fuzzy logic and intelligent systems 6 (3): 3~13    
    3. 2000 "운반차-막대 시스템을 위한 적응비평학습에 의한 CMAC 제어계" 퍼지 및 지능시스템학회 논문지 = Journal of fuzzy logic and intelligent systems 10 (5): 466~477    
    4. 2004 "운반차-막대 시스템의 대칭성과 Table Look-Up 제어 기법" 퍼지 및 지능시스템학회 논문지 = Journal of fuzzy logic and intelligent systems 14 (3): 290~297    
    5. 2006 "A Reinforcement Learning with CMAC" International journal of fuzzy logic and intelligent systems : IJFIS 6 (4): 271~276    
    6. 2006 "CMAC에 의한 협동 퍼지 제어계의 운반차-막대 시스템 제어" 퍼지 및 지능시스템학회 논문지 = Journal of fuzzy logic and intelligent systems 16 (3): 349~356    
    7. 2007 "BOXES-based Cooperative Fuzzy Control for Cartpole System" International journal of fuzzy logic and intelligent systems : IJFIS 7 (1): 22~29    
    8. 2010 "공대생 글쓰기 과목에서 가르칠 내용" 공학교육연구 = Journal of engineering education research 13 (1): 3~16    
    9. 2011 "기술문에서 우리말 숫자 쓰기" 공학교육연구 = Journal of engineering education research 14 (2): 30~39    
    10. 2012 "문제 해결 방식의 아홉 단계 '쓰기 전' 과정" 공학교육연구 = Journal of engineering education research 15 (3): 22~39    

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