摘要
为了研究 Furuta 摆在倒立点附近的稳定控制问题,采用基于 T-S 模糊模型的一类连续模糊动态系统控制方法,首次进行 Furuta 摆的模糊状态空间建模,并采用模糊切换的思想,设计了 Furuta 摆在倒立点附近的稳定控制器,进而分析了系统稳定性。与已有的方法相比,该方法的优点是稳定区域大、调节时间短。数字仿真结果验证了方法的有效性。
Aimed at studying the stabilization control problem of Furuta pendulum around the inverted point,the control method of a class of continuous fuzzy dynamic systems based on T-S fuzzy model is first used to build fuzzy dynamic state space model. The stable controller based on fuzzy switching idea to the Furuta pendulum around the inverted position is designed, and its stability is analyzed. By contrast with other proposed methods,the virtue of the method used in the paper is its larger attraction basin and less settle time.The solution of numerical simulation shows the efficiency of the presented method.
出处
《信息与电子工程》
2004年第3期188-191,199,共5页
information and electronic engineering
基金
973 计划项目(2002CB312205-04)
国家自然科学基金资助项目(10276005)
