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We have been studying fuzzy control of the inverted double pendulum in computer simulations. We can control the inverted double pendulum by fuzzy control rules acquired by trial and error. In this research, we attempted to acquire fuzzy control knowledge for the double pendulum automatically by using a genetic algorithm (GA). In order to adjust the rules of attitude and position control of the double pendulum by the GA, we regarded rule acquisition as a multiobjective optimization problem and formulated hierarchical control knowledge. This paper proposes a new method of treating hierarchical control knowledge by expanding the GA with a local improvement mechanism. This method, based on genetic transformation in microorganisms, allows us to acquire better fuzzy control knowledge of the double pendulum. © 1998 Scripta Technica, Syst Comp Jpn, 29(14): 5057, 1998

Refining fuzzy control rules for the inverted double pendulum system based on a transformation-type genetic algorithm