Fuzzy Cooperative Control for the Stabilization of the Rotating Inverted Pendulum System

The rotating inverted pendulum is a nonlinear, multi-variate, strongly coupled unstable system, and study-ing it can effectively reflect many typical control prob-lems. In this paper, a parameter self-tuning fuzzy controller is proposed to perform the balance con-trol of a single rotating inverted pendulum. Particle swarm optimization is used to adjust its control pa-rameters, and simulation experiments are performed to show that the system can achieve stability with the designed parametric self-tuning fuzzy controller, with control performance better than that of the con-ventional fuzzy controller. Furthermore, the leader -follower control strategy is used to realize the cooper-ative control of multiple rotating inverted pendulums. Two QUBE-Servo 2 rotating inverted pendulums are used for a cooperative pendulum swing-up experiment and stabilization experiment, and the effectiveness of the proposed cooperative control strategy is verified.