基于粒子群算法的变论域模糊控制在二级倒立摆中的研究

Research into the variable universe fuzzy control based on particle swarm optimization in double inverted pendulum

为了实现二级倒立摆系统的快速稳定控制,设计了一款基于粒子群算法的变论域模糊控制器。通过对二级倒立摆系统结构和参数的分析,建立了二级倒立摆的数学模型,再利用粒子群算法优化了变论域模糊控制器的参数,改进了控制器的性能,最后通过仿真证明该算法切实可行。

In order to achieve the quick stability of the double inverted pendulum system, a variable universe fuzzy controller based on particle swarm algorithm was designed. Through analyzing the structure of double inverted pendulum system and parameters, the mathematical model of the double inverted pendulum was established. The particle swarm algorithm optimizes the parameters of the variable universe fuzzy controller, and improves the capacity of the controller. The algorithm is proved feasible in theory.