Stabilization of Four-Stage Inverted Pendulum—A Problem of High Complexity
Hong-Xing Li
School of Control Science and Engineering
Dalian University of Technology
Wednesday, April 24, 2013
2:15 p.m., ICSI Lecture Hall
Professor Hong-Xing Li, Dalian University, P.R.C., will present a lecture and demonstration at a joint BISC/ICSI Seminar at ICSI. Professor Li will discuss his pioneering work on stabilization of a four-stage inverted pendulum--a remarkable achievement. The ideas which underlie stabilization of the four-stage inverted pendulum have far-reaching implications.
Abstract:
In my talk and demonstration, I will describe and demonstrate the first successful realization of stabilization of a four-stage inverted pendulum. Stabilization of four-stage inverted pendulum is beyond human capability. My talk is focused on the following aspects of the problem.
1. A collection of fuzzy if-then rules is constructed. This collection is based on experimental data.
2. A fuzzy controller is implemented as a collection of PID controllers.
3. A fuzzy controller may be represented as a stochastic controller.
4. The adaptive mechanism of dynamic fuzzy systems may be interpreted as the conditional expectation of a family of stochastic processes.
5. Variable universe fuzzy control.
Bio:
Hongxing Li received the Ph.D. in Applied Mathematics from Beijing Normal University, China. Currently, he is Professor of School of Control Science and Engineering at Dalian University of Technology, China. He has published over 100 technical papers and is the author/coauthor of eight books. His present research interests include: fuzzy control (theory and hardware implementation), fuzzy logic and fuzzy systems, relationship between fuzzy system and stochastic system.
By using the variable universe fuzzy controller, he successfully demonstrated the world’s first stabilization of a four-stage inverted pendulum in August 2002. Until now, what has been described in the literature is stabilization of a three-stage inverted pendulum.