四级倒立摆系统的模糊控制方法研究

Fuzzy Control of the Four Level Inverted Pendulum System

倒立摆系统由于其多变量、非线性和强耦合性等特点而一直成为各国专家学者研究的热点。目前，一级、二级、三级倒立摆都已经有成功控制的实例，而单电机控制的四级倒立摆系统的控制还未见报导。本文首先推导了四级倒立摆系统的数学模型，并对倒立摆系统在平衡点附近进行了可控性研究。在此基础上，提出一种基于三维模糊组合变量的控制方法。仿真研究结果证明了所提出控制方法的有效性。

The four level inverted pendulum model is derived first. Then the controllability of the system is discussed. After that, we proposed a fuzzy control method based on three-dimension fuzzy composed variables. Simulation experiment results prove the validation of the proposed method.