A Fuzzy Immune Optimal Control For Double Inverted Pendulum

The biological immune system is a highly complex, distributed, self adaptive system and can effectively deal with the bacterial invasion thus the body can sustain life and evolution. In the process, B cells and T cells produced by marrow play an important role. The immune theory stimulated by biological immune system has been widely used in control, planning, image processing, data mining, fault detection and diagnosis and other areas .In order to make use of the potential beneficiation of the immune system, the paper first build the math model of the double inverted pendulum, then the possibility for the controller is proved through control matrix method from modern control theory. As double inverted pendulum has six input variables, if we directly design the fuzzy controller, we will encounter the problem of "Rules explosion" .So a hierarchical reduction fuzzy controller is designed in the paper to solve the problem of"rules explosion", and then an immune algorithm is introduced to optimal the fuzzy rules and membership function parameters.The controller designed has a simple structure and high efficiency and the control algorithm is easy to realize.Result from real target control proved that the fuzzy immune controller has better performance in robustness and reaction compared to the LQR method.At last, further step of the work to be done and the developing prospect of artificial immune system is discussed.