Identification of Fuzzy Rule on Manual Control of an Unstable System
Shigehiro Masui*, Toshiro Terano** and Yoshimasa Sugaya***
*Hosei University, 3-7-2, Kajino-cho, Koganei, Tokyo, 184 Japan
**Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo, 152 Japan
***Shimizu Corp., 1-2-3, Shibaura, Minato-ku, Tokyo, 105-07 Japan
After some training, human operators can manually control very unstable objects when some proper information is given. But they can hardly explain how they do it, because they operate them intuitively and not logically. In this paper, we study the human behavior during the control of a double inverted pendulum and identify its control rules experimentally. The motion of a double inverted pendulum is simulated by a micro-computer and some of the state variables are indicated on a CRT, observed by a subject, and controlled on a keyboard. In order to find which information is used by a subject, his visual points are examined by an eye-camera. As a result, we see that there are three phases of operation, that is, the decrease of initial deviation, the prevention of over-shoot, and the keeping of stability. Next, the motion of a pendulum is analyzed qualitatively in each phase so as to identify the control rules of a human operator. By this analysis, we see that the intuitive manipulator of the human operator is quite reasonable from the physical viewpoint, and we represent it by some linguistic rules. From these results, we suggest a hierarchical structure of fuzzy rules as a model of a human operator which is verified through experiments on fuzzy control. It is concluded that this fuzzy controller acts as a skilled operator, but its performance is far superior to humans.