倒立摆自适应模糊控制系统研究

Research on Adaptive Fuzzy Control System of Inverted Pendulum

本文以单级倒立摆为仿真试验模型,现拟采用由根据李雅普诺夫稳定性判据设计的鲁棒自适应控制器进行控制,以提高倒立摆系统稳定性。在MATLAB/Simulink仿真环境下对设计的单级倒立摆系统进行稳定性分析,并验证了该方法可以对倒立摆系统进行有效快速且精准的稳定控制。

In this paper,a single-stage inverted pendulum is used as a simulation test model,and now it is planned to use a kind of adaptive fuzzy controller designed by the Lyapunov stability criterion to improve the robustness and stability of the inverted pendulum system.The stability analysis of the designed single-stage inverted pendulum system is carried out under the MATLAB/Simulink simulation environment,and it is verified that the method can effectively,quickly and accurately control the stability of the inverted pendulum system.