¹Institute of Artificial Intelligence, Chongqing Institute of Technology, Chongqing, China Institute of Intelligent Automation, Chongqing University, Chongqing, China
²Institute of Intelligent Automation, Chongqing University, Chongqing, China

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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

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Cite: Zushu Li, Dongwu Liang, "Human Simulated Intelligent Controller with Fuzzy Online Self-Tuning of Parameters and its Application to a Cart-Double Pendulum," Journal of Computers vol. 3, no. 9, pp. 67-76, 2008.