分级模糊滑模解耦控制方法在二级倒立摆中的应用

Application of Hierarchical Fuzzy Sliding-mode Decoupling Control Method in Double Inverted Pendulum

采用分级模糊滑模解耦控制方法,将二级倒立摆非线性系统解耦成几个次级系统,基于Lyapunov函数的自适应规则来调解分级滑模控制器的耦合因素,并且通过仿真实验,在保证系统稳定性的基础上,获得了良好的解耦性能,同时也验证了该方法的可行性及优于采用常规模糊滑模解耦控制的解耦性能.

Hierarchical fuzzy sliding-mode decoupling control method is adapted in the paper,and the nonlinear system of a double inverted pendulum is decoupled into several subsystems,an adaptive law based on the Lyapunov function is used to tune the coupling factor of the hierarchical sliding-mode controller,a favorable decoupling performance is achieved under the condition of the system guaranteed stability by simulation experiments. Simulations are performed and demonstrated the feasibility of the proposed design method,which has been more predominant than adopting conventional fuzzy sliding-mode decoupling control in decoupling performance.