基于倒立摆系统的模糊仿人智能控制

Fuzzy Simulated Intelligent Control Based on Inverted Pendulum System

倒立摆系统是一个绝对不稳定的系统,具有高阶次、非线性、强耦合等特性,很多控制方法的验证都是通过对倒立摆的控制来实现的。为了实现倒立摆系统的自摆起倒立平衡控制,提出了一种模糊仿人智能控制方法,在起摆控制阶段以仿人智能控制方法为主,平衡点附近切换至模糊控制方法,实现其稳定控制。仿真结果表明,模糊仿人智能控制对于典型非线性自不稳定系统有着很好的控制能力。

As an absolute unstable controlled system,inverted pendulum is a high order,nonlinear,strong coupling plant.So it may prove the ability of a new control technique in theory.In order to realize the self-swing-up and stabilization control of the inverted pendulum system,fuzzy simulated intelligent control is proposed.Firstly,a human simulated intelligent controller is designed to swing up the inverted pendulum.Then a fuzzy controller is developed to keep the inverted pendulum stabilized near the equilibrium positon.Finally,the effectiveness of the proposed controller is demonstrated by simulation and the fuzzy simulated intelligent control has the ability to control the representative nonlinear instability system.