摘要
倒立摆系统是多变量、非线性、强耦合的控制系统。采用模糊控制理论研究二级倒立摆控制问题。运用最优控制方法设计融合函数以降低模糊控制器的维数,减少模糊控制规则数,进而提高模糊控制器的性能品质。理论和实验都表明该模糊控制算法是有效,可行的。
The inverted pendulum is a muhivariable, nonlinear, strong-complying control system. The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper.The dimensions of input vari- eties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory ,and it reduces the rules of fuzzy control. Theory and experiment prove that this fuzzy control arithmetic is effective and feasible.
出处
《电子设计工程》
2009年第10期105-107,共3页
Electronic Design Engineering
关键词
二级倒立摆
数学模型
模糊控制
融合函数
double inverted pendulum
mathematical model
fuzzy eontrol
fusion function
