Fuzzy Neural Network Control Combined with Feed-forward Compensation for a Double Invert Pendulum Based on PSO-SA

The stability control of the double invert pendulum system was completed based on a fuzzy neural network and combined with the error feed-forward compensation in this paper and,an algorithm of particle swarm optimization combined with simulated annealing(PSO-SA) was used in global optimizing of control parameters.Compared with the fuzzy controller based on the synthesis of state variables this control scheme has not only solved the rule number explosion problem of multi-variable system fuzzy controller,but also has improved the control accuracy because of the direct participation of control output by all state variables.Simulation results show that this control scheme has the advantages of less rules,fast response speed,good robustness and strong nonlinear adaptive ability.