摘要
采用Lagrange函数建立了旋转二级倒立摆系统的状态空间方程。为了解决常规滑模控制的抖振问题,提出了一种以极点配置为基础的模糊趋近律滑模控制策略。将模糊逻辑控制与趋近律相结合,推导出模糊趋近律。仿真结果表明,该方法不仅保留了滑模控制系统具有的较强的鲁棒性,同时改善了控制系统滑动模态的品质,消除了系统的抖振。
The state space model of a rotary double inverted pendulum system is established. In order to solve the chattering problem of sliding-mode control,a fuzzy trending law based on pole placement is proposed. Simulation results show that the method can improve the sliding-mode quality and reduce the of chattering of the system.
出处
《自动化技术与应用》
2008年第10期8-11,共4页
Techniques of Automation and Applications
关键词
滑模控制
趋近律
极点配置
模糊控制
抖振
sliding-mode control
pole placement
trending law
fuzzy control
chattering
