采用分级模糊滑模控制器实现二级倒立摆的解耦控制

Decoupling Control for Double Inverted Pendulum by Adopting Hierarchical Fuzzy Sliding-mode Controller

针对二级倒立摆系统的非线性强耦合的特点,提出和采用了一种新型分级模糊滑模(HFSM)控制器的思想,实现了对二级倒立摆系统的解耦控制。基于李亚普诺夫函数采用自适应规则来调节分级模糊滑模控制器参数,保证系统可靠稳定性。通过系统仿真实验,也验证了该方法的可行性和优于采用常规模糊滑模解耦控制的解耦性能。

For nonlinear coupling system of double inverted pendulum characteristics, a new thought of hierarchical fuzzy sliding- mode controller is proposed and the decoupling control is achieved. An adaptive rule is adopted based on the lyapunov function to adjust hierarchical fuzzy sliding- mode controller parameters and guarantee a stability of the system. Simulations are performed and demonstrated the feasibility of the proposed design method, which has more favorable decoupling performance then adopting conventional fuzzy slidingmode decoupling control.