基于融合技术的单级倒立摆模糊控制器

Single Inverted Pendulum Fuzzy Control System Design Based on Data Fusion Technique

本文提出了一种基于数据融合的模糊控制器设计方法,该方法运用最优控制方法设计融合函数,降低模糊控制器的输入变量维数,大大减少了模糊控制的规则数,成功的解决了模糊控制的规则爆炸的问题。仿真试验结果表明,使用融合技术的模糊控制系统在较大角度的扰动情况下,控制效果优于LQR控制系统。在实际系统试验中,基于融合技术的模糊控制系统也达到了满意的实验效果。

Based on data fusion method, a fuzzy control is designed. It reduces the input dimension of the fuzzy controller using data fusion technique and decreases the control rules, simplifies the fuzzy controller＇s design. The simulation results show that under the large angle disturbance, performance of the fuzzy system is superior to the LQR system. We also get a perfect result in the practical experiment.