Design of a Hybrid Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for Position and Angle control of Inverted Pendulum (IP) Systems

Ashwani Kharola
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Ashwani Kharola: Institute of Technology Management (ITM), Defence Research and Development Organisation (DRDO), Mussoorie, India

International Journal of Fuzzy System Applications (IJFSA), 2016, vol. 5, issue 1, 27-42

Abstract: This paper illustrates a comparison study of Fuzzy and ANFIS Controller for Inverted Pendulum systems. IP belongs to a class of highly non-linear, unstable and multi-variable systems which act as a testing bed for many complex systems. Initially, a Matlab-Simulink model of IP system was proposed. Secondly, a Fuzzy logic controller was designed using Mamdani inference system for control of proposed model. The data sets from fuzzy controller was used for development of a Hybrid Sugeno ANFIS controller. The results shows that ANFIS controller provides better results in terms of Performance parameters including Settling time(sec), maximum overshoot(degree) and steady state error.

Date: 2016
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