基于S-M型的倒立摆串级模糊控制系统设计

Design of a Cascade Fuzzy Control System for Inverted Pendulum based on the Inference of Sugeno and Mamdani

针对高维模糊控制器设计中的"模糊规则爆炸"问题,以单级倒立摆为研究对象,直接将四维控制器分解为两个二维控制器,提出一种新型的双闭环串级模糊控制系统,其外环为Mamdani型模糊控制器、内环为Sugeno型模糊控制器。通过Simulink仿真证明该模糊控制方法的有效性。

For an inverted pendulum,a four-dimensional controller is directly decomposed into a pair of two-dimensional controller to solve the problem of fuzzy rules explosion. Then a new cascade fuzzy control is proposed,and Mamdani fuzzy controller applies to outer loop and Sugeno fuzzy controller applies to inner loop. Simulation shows that the method of cascade fuzzy control is effective.