基于模糊逻辑的滑模与状态反馈加权控制

Fuzzy logic based on weighted control between sliding mode and state feedback

针对小车倒立摆系统,提出了一种基于模糊逻辑的滑模与状态反馈加权的控制方法。倒立摆摆杆角度作为模糊逻辑系统的输入,输出为滑模控制器的加权系数。滑模控制将摆角控制在一个零的邻域内,在邻域内先采用近似的线性化模型来描述系统,然后采用基于极点配置的线性状态反馈来控制系统达到给定值。仿真结果表明,设计的控制器具有良好地跟踪性。

A fuzzy-weighted control method, which combines sliding mode control and linear state feedback is proposed for inverted pendulum. The pendulum angle and weighting coefficient of sliding mode control are partiallyinput and output of the fuzzy logical. Sliding mode control is used to regulate the pendulum angle to neighborhood of zero. Where the linear model is obtained by approximating nonlinear model of the inverted pendulum. The linear state feedback controller based on pole assignment is designed to stabilize the state of system. Simulation results demonstrate the effectiveness of this method.