Enhanced fuzzy logic control for overcoming intrinsic resistance in inverted pendulum systems

Abstract

The paper delves into an in-depth analysis of the intrinsic resistance of the inverted pendulum system which causes the modeling of the system to differ from the actual system. Our primary objective revolves around the implementation and subsequent optimization of fuzzy logic controllers (FLC), drawing inspiration from human perceptual assessments. The processing comprises comprehensive mathematical system modeling, intrinsic resistance examination, and improved fuzzy logic control with detailed membership function and rule design. In addition, we conduct a comparative analysis with the widely recognized linear quadratic regulator (LQR) algorithm, which is considered the conventional control algorithm. The result demonstrates that the improved FLC outperforms the conventional LQR algorithm overshoot mitigation, thereby underscoring its superior efficacy and optimality.