摘要
三级倒立摆系统有8个状态变量,直接设计模糊控制器必然会导致规则爆炸,推理时间过长,控制器的实时性难以满足系统快速性的要求。小车位移以及速度与摆杆角度及摆杆角速度存在很大的耦合关系,融合函数实现了将单一模糊控制策略转化为多级控制策略嵌套,实现输入变量的降维。实验结果表明基于信息融合的模糊控制算法使系统具有良好的动态特性和一定的鲁棒性。
With the variable of eight states in the triple inverted pendulum system, the direct design of fuzzy controller will inevitably result in the regular explosion, thus ratiocinative time will be extended and real time behavior cannot satisfy the rapidity request of system. Displacement of vehicle and velocity, angles of pendulum bars and angular speed coincide with each other. Fusion function converts the single fuzzy control strategy to multilevel control strategies at the result of the dimensionality reduction. Experimental re- sult indicates that fuzzy control arithmetic in inverted pendulum system based on information fusion makes a well dynamic characteristic and definite robustness.
出处
《柳州职业技术学院学报》
2009年第2期66-70,共5页
Journal of Liuzhou Vocational & Technical College
关键词
信息融合
倒立摆
状态反馈
模糊控制
information fusion
inverted pendulum
state feedback
fuzzy control
