二级倒立摆的拟人智能控制

Design of Human-Imitating Intelligent Controller for Double Inverted Pendulum

以二级倒立摆为被控对象,利用拟人智能控制方法设计了系统的非线性控制律。与传统的控制方法相比,拟人智能控制方法不受线性约束,从而对于复杂的非线性被控对象可以得到满意的控制结果。对二级倒立摆控制系统进行了数字仿真,仿真结果进一步验证了设计方案的有效性。

Taking the double inverted pendulum as a plant to be controlled, a nonlinear control law is proposed according to human-imitating intelligent control method. Compared with traditional design, human-imitating control is not restricted to linear assumption. Consequently, as for the complicated nonlinear objects, applying this control method can achieve satisfactory results while the object＇s physical model is available. Finally, the results of simulations verified the validity of this design.