旋转倒立摆平衡姿态模糊变结构控制算法研究

A research of fuzzy variable structure control algorithm for balancing of rotation inverted-pendulum

针对非线性、多变量、强耦合的旋转倒立摆系统,利用模糊控制与滑模变结构控制相结合设计了一种模糊变结构控制器,该控制器既保持了滑模变结构控制的快速性和鲁棒性,又能较好地消除单纯采用滑模变结构所产生的抖振问题。仿真结果表明,模糊变结构控制算法能够实现倒立摆的平衡姿态控制,抖振现象基本消除且具有很强的鲁棒性。

A fuzzy variable structure controller has been designed which combines fuzzy control and variable structure control for nonlinear,multi-variable,unmatched disturbance rotational inverted pendulum system,the controller not only keeps sensibility and robustness of VSC but also can efficiently reduce chattering which is generated by VSC.The result of simulation shows that it can realize the blancing control and chattering phenomenon has reduced essentially and has good robusness.