基于状态变量融合的三级倒立摆模糊控制

Fuzzy Control of Triple Inverted Pendulum Based on State Variety Fusion

针对非线性、高阶次、多变量、强耦合、不稳定的三级倒立摆系统,提出一种基于最优控制的模糊控制器的设计方法。该设计首先利用最优控制理论设计出状态反馈器,然后利用状态变量融合技术将模糊控制器维数由8维降到了2维,设计出模糊控制器,很大程度上简化了模糊控制器的设计过程。该方法也可推广到更高级别倒立摆系统的模糊控制。仿真结果表明,该方法超调量小,调节时间短,鲁棒性强,可实现多级倒立摆的稳定控制。

For the triple inverted pendulum which is a multi-variety, nonlinear and strong-complying system, A design method of the fuzzy controller base on optimal control is proposcd. In this article, a state feedback is designed by using optimal control theory, and then a fuzzy controller whose state-variable dimension is dropped from 8-dimensional to 2-dimensional by using fusion technology is designed, to a great extent simplifies the fuzzy controller design. This method can also be extended to a higher level inverted pendulum fuzzy control system. Simulation results show that the method has a small amount of overshoot, short adjustment time and robustness, and then achieve stability control of inverted pendulum.