CONTROL OF AN INVERTED PENDULUM - CART SYSTEM USING HEDGE ALGEBRAS

Abstract

The inverted pendulum - cart mechanism is an under actuated and non-linear
system and it is usually used as a benchmark model in control. Hedge Algebras (HA) theory has been developed since 1990 with many advantages. It has been applied in control since 2008. In the Hedge algebras based controller (HAC), linguistic values in rule base are represented by their semantically quantifying mappings (SQM) and hence numerical representation of the rule base can be described in term of a grid of nodes. Determination of control variable from given state variables is performed based on this grid using linear interpolations. This is an advantage of HAC. In this report, the problem of stable control of an inverted pendulum - cart system using HA is presented, in which simulation results of the controller HAC are also compared with those of the controller LQR.