二级倒立摆系统的模糊滑模变结构控制

Fuzzy Sliding Mode Variable Structure Control of A Double-Stage Inverted Pendulum System

目的在满足良好的控制性能指标下,不依赖数学模型,实现对固有不稳定系统的有效控制.方法根据Lyapunov稳定性定理,建立模糊逻辑规则库,设计模糊滑模变结构控制器来控制二级倒立摆不稳定系统,并通过仿真验证控制方法有可行性和有效性.结果该控制方法能以较为满意的动态和静态性能实现对不稳定系统的控制,摆脱了对被控对象数学模型的依赖,控制器的设计方法简单,实施方便,提高了控制方法的实用性.结论笔者有效地融合了模糊逻辑系统和滑模控制系统,开发了针对固有不稳定系统的控制算法,此方法扩大了控制对象的范围,在生产实践中有很广阔的应用空间.

Fuzzy sliding mode variable structure method is employed to the effective control of an inherent unstable system a double stage inverted pendulum to achieve better performance without replying on mathematical model. A fuzzy rule base is designed in the sense of Lyapunov＇s stability theorem,the feasibility and the effectiveness of the control algorithm are verified via simulation studies. Satisfactory dynamic and steady performances have been achieved with this method for the control of the unstable system without accurate mathematical model, while the controller is simple to design and easy to implement, which enhances the practicability of the proposed controller. A control strategy integrating fuzzy logic system and sliding mode control is developed to tackle the issue of control for the inherent unstable system, the strategy proposed in this paper expands the scope of controlled objects and will be found broadened application areas.