不确定性倒立摆系统的自适应模糊滑模控制

Research on Adaptive Fuzzy Sliding Mode Control for Uncertain Inverted Pendulum System

研究了倒立摆系统的自适应模糊滑模优化控制问题。针对消弱倒立摆系统所受外界扰动不确定性影响以及在参数未知时倒立摆系统的精确控制问题,应用变结构滑模控制和模糊逻辑理论设计了一种自适应模糊滑模控制器。通过对滑模控制的切换增益进行参数模糊化,消弱不确定性的影响,同时在倒立摆参数未知时用模糊逼近倒立摆的系统方程,使倒立摆控制具有滑模控制对外界扰动和参数摄动的不变性,从而实现系统的自适应优化控制。通过Lyapunov函数证明了控制器的稳定性。仿真结果表明,相比模糊控制和滑模控制方法具有更优的控制性能。

The paper proposed a new adaptive fuzzy sliding mode approach for inverted pendulum system optimal control problem. In order to weaken the uncertain impact of inverted pendulum system suffering the external disturb- ance and solve the precise control of inverted pendulum system with unknown parameters, an adaptive fuzzy sliding mode controller was designed on the basis of variable structure sliding mode control and fuzzy logic theory. This con- troller can weaken uncertainties influence by use of switching gain parameters fuzziflcation of sliding mode control, and approximate inverted pendulum system of equations when inverted pendulum has the unknown parameters. Thus, it achieved adaptive control and optimized control action, implemented the inverted pendulum control under the case of external disturbances and parameter perturbation invariance of sliding mode. Lyapunov function can prove the sta- bility of the controller. Relevant system simulation experiments were carried out to show the viability of the proposed idea, which has better control performance compared with fuzzy control and sliding mode control method.