摘要
针对直线柔性一级倒立摆多变量的特性,提出了基于融合函数的模糊控制算法,解决了"规则爆炸"问题.利用最优控制理论计算出使系统稳定的反馈增益矩阵,由反馈增益矩阵构造融合函数,由此减少了模糊控制器的输入变量维数.仿真和实际实验结果证明该方案的有效性和正确性.
Modeling of a linear single-stage flexible-joint inverted pendulum involves multiple interacting variables. A novel fuzzy control method was proposed that would solve the rule explosion problem by applying a fusion function. The feedback gain matrix,which makes the system stable,was calculated using optimal control theory. Then the fusion function was constructed with a feedback gain matrix which reduced the dimensions of variables passed to the fuzzy controller. Simulations and practical experiments were conducted. The results showed the validity and correctness of the method.
出处
《智能系统学报》
2010年第4期347-352,共6页
CAAI Transactions on Intelligent Systems
关键词
直线柔性一级倒立摆
模糊控制器
融合函数
模糊规则
linear single-stage flexible-joint inverted pendulum
fuzzy controller
fusion function
fuzzy rule
