JOURNAL OF COMPUTERS (JCP)
ISSN : 1796-203X
Volume : 3    Issue : 9    Date : September 2008

Human Simulated Intelligent Controller with Fuzzy Online Self-Tuning of Parameters and its
Application to a Cart-Double Pendulum
Zushu Li and Dongwu Liang
Page(s): 67-76
Full Text:
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Abstract
Using the basic concepts and design methods of Human Simulated Intelligent Control (HSIC), we
have designed the master control level of an HSIC controller for the swinging-up and handstand
control of a cart-double pendulum. Then, the self-tuning structure of the self-tuning level of the HSIC
Controller is implemented using fuzzy logic rules. This structure has fuzzy self-tuning abilities in the
swing-up control of a cart-double pendulum system and achieves online self-tuning of the control
parameters of the HSIC controller efficiently with a hierarchical and multimode control structure. The
computer simulation and realtime experiments of the swing-up control of a cart-double pendulum
system show that the fuzzy online self-tuning of the control parameters markedly enhances the
robustness and adaptability of the HSIC.

Index Terms
human simulated intelligent control, cartdouble pendulum system, fuzzy logic rule, online parameter
self-tuning