摘要
针对多变量、非线性、强耦合性的倒立摆系统,运用牛顿-欧拉方法建立了倒立摆的数学模型。然后对该模型分别进行LQR控制和模糊控制,并在MATLAB环境下进行仿真,其对比结果对该方向的研究具有理论指导意义。
According to multivariable, nonhnear and strongcouphng inverted pendulum system, a mathematical model for the pendulum is set up by using the Newton-Euler method. The model has undergone the performance of both LQR and fuzzy control in the single inverted pendulm. Through simulation in MATLAB, the two control methods are compared carefully. The results have provided theoretical guidance for further studies in this respect.
出处
《工业仪表与自动化装置》
2008年第2期7-9,共3页
Industrial Instrumentation & Automation
关键词
单级倒立摆
建模
LQR控制
模糊控制
single inverted pendulum
modelling
LQR control
fuzzy control
