An experiment-based comparative study of fuzzy logic controlAn approach is presented to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE, and the authors have successfully built a prototype hardware system to solve the cartpole balancing problem in real-time. The approach provides a complementary alternative to the conventional analytical control methodology and is of substantial use when a precise mathematical model of the process being controlled is not available. A set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes is furnished.
Document ID
19890066738
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Berenji, Hamid R. (NASA Ames Research Center Moffett Field, CA, United States)
Chen, Yung-Yaw (NASA Ames Research Center Moffett Field, CA, United States)
Lee, Chuen-Chein (NASA Ames Research Center Moffett Field, CA, United States)
Murugesan, S. (NASA Ames Research Center Moffett Field, CA, United States)
Jang, Jyh-Shing (NASA Ames Research Center Moffett Field, CA, United States)