Inverted pendulum controlled by a fuzzy system
This is an example of a fuzzy system to control an inverted
pendulum.
What is an inverted pendulum
For the general description of an inverted pendulum, see Wikipedia.
Also there are several examples of real world inverted pendulums
to find at YouTube or Google Video.
General structure
The whole system consists of a simulated inverted pendulum which
current state is feed into a controller. Its result is then used
to control the acceleration of the base of the inverted pendulum.
To show off some features of pyfuzzy the controller is realized using a fuzzy system.
(However, one can also realize other types of controllers, as an example there is included a neural network as controller.)
Description of parts
- simulation: the simulation of the
inverted pendulum.
- fuzzy: a fuzzy system (designed by
René Liebscher for several lectures in study)
- fuzzy2: a fuzzy system after the book
...
- neuro: an example of a neural network
trained from the first fuzzy system above.
History
This system was written orginally in Delphi for purpose to gain some
experience in some topics taught in René Liebscher's study
of computer science. This work is still available at
http://www.htw-dresden.de/~iwe/Belege/Liebscher/neuro1/index.html.
(In German)
Later when creating pyfuzzy it was converted to python, to serve
here as an example.