基于最优权值的二级倒立摆模糊控制器

Fuzzy Controller of Double Inverted Pendulum Based on Optimal Weights

利用最优反馈矩阵来加权模糊控制器的输入变量。并且通过对系统状态的综合处理,减少模糊控制器的输入变量,降低控制器的设计难度。其具体设计为:在6个状态变量中引入2个综合变量,定义各个状态变量的加权系数,分别反映各个变量在控制器输出的权重。仿真结果表明,该控制器不但结构简单,且具有很好的控制效果。

The optimal feedback matrix was used to weight the input variable of fuzzy controller. And through the integrated processing for system status, the input variable of fuzzy controller was reduced to decrease the controller design difficulty. The detailed design includes using two integrated variables, defining the weight index of every status variable, reflecting the every variable weight in controller output separately. The simulation results showed that the controller was not only simpler in structure, but also better in control effect.