抄録
In this paper, the results of a fuzzy control with personal computer control program in the handstand pendulum typed by the movement on an arc by its arm is reported. Used by the handstand pendulum modeling equipment (i.e. the small scaled handstand pendulum mechanics controlled by the swing-up pendulum in the program control of Windows version), the authors make the pendulum pointed below swing gradually, and receive the pendulum in the state of swing-up and keep a balance of the pendulum at about central upper position lest it should fall down. In this control process, the fuzzy control method by the personal computer is used : it is tried that a linear fuzzy reasoning method based on the algebraic multiplier-addition gravity method which is evolved the MIN・MAX gravity method is adopted so the numbers of input and fuzzy rules may be the least. The kinds of the membership function are used the types of triangle, trapezoid and singleton, etc., moderately. In consequence, taking care of the following three mentions in the arm of the handstand pendulum : (l) the motion of pendulum swing-up, (2) the motion of the pendulum received, and (3) the motion of the pendulum's keeping the balance condition of a handstand, the fuzzy control is realized by a three inputs and single output and its fuzzy rules shown in this paper. Photos etc. which are visual results will be given within the volume of this script.
