摘要
基于T-S模糊模型的平行分配补偿控制器设计方法,结合线性二次型最优控制方法,设计了一个倒立摆系统状态反馈控制器。控制方法有效地将线性系统理论与模糊控制理论结合起来,可处理某些复杂的非线性自不稳定系统控制问题。针对倒立摆是一个非线性、不稳定、强耦合系统,利用MATLAB对其进行仿真实验,结果表明上述方法能够控制倒立摆稳定。TS-LQR控制器结合了模糊控制和LQR方法的优点,具有结构简单、易于实现以及稳定范围大、鲁棒性好的优点,可获得较好的动态性能和稳态性能。
This paper presents a state feedback controller of inverted pendulum system based on parallel distributed compensation control method of T - S fuzzy model and LQR optimal control method. The method combines linear system theory with fuzzy control theory, thus it has the ability to control the nonlinear instability system. For the inverted pendulum system is a nonlinear, essentially unsteady and strong coupling system, its simulation is carried out by using matlab simulink tool, and the result indicates that this control method is feasible and the effect is obvious. The eontroller synthesizes the merits of fuzzy control and LQR control, has simple structure, is easy to realize, and has strung robustness, and obtain better dynamic and stable performances.
出处
《计算机仿真》
CSCD
北大核心
2009年第11期174-176,181,共4页
Computer Simulation
关键词
倒立摆
最优控制
模糊模型
Inverted pendulum
Optimal control
Fuzzy model
