Research Article | OPEN ACCESS
Genetic Algorithm Tuned Fuzzy Logic Controller for Rotary Inverted Pendulum
1Tzu-Chun Kuo, 2Ying-Jeh Huang and 2Ping-Chou Wu
1Department of Electrical Engineering, Ching Yun University
2Department of Electrical Engineering, Yuan Ze University, Chungli 320, Taiwan
Research Journal of Applied Sciences, Engineering and Technology 2013 5:907-913
Received: October 30, 2012 | Accepted: December 21, 2012 | Published: June 25, 2013
Abstract
In this study, a Genetic Algorithm (GA) is proposed to search for the optimal input membership functions of the fuzzy logic controller. With the optimal membership function, the fuzzy logic controller can efficiently control a rotary inverted pendulum. The advantage of the proposed method is tuning the parameters of membership functions automatically rather than tuning them manually. In genetic algorithm, these parameters are converted to a chromosome which is encoded into a binary string. Because the membership functions are symmetric to zero, the length of each chromosome could be reduced by half. The computation time will also be shorter with the shorter chromosomes. Moreover, the roulette wheel selection is chosen as reproduction operator and one-point crossover operator and random mutation operator are also used. After the genetic algorithm completes searching for optimal parameters, the optimal membership function will be introduced to the fuzzy logic controller. Finally, simulation results show that the proposed GA-tuned fuzzy logic controller is effective for the rotary inverted pendulum control system with robust stabilization capability.
Keywords:
Fuzzy logic control, genetic algorithm, inverted pendulum,
Competing interests
The authors have no competing interests.
Open Access Policy
This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Copyright
The authors have no competing interests.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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