In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approa...In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.展开更多
基金supported by the National Natural Science Foundation of China under Grant Nos.61074044, 61104038,and 60834004Specialized Research Fund for the Doctoral Program of Higher Education of China under Grant No.20090041110003the National 973 Basic Research Program of China under Grant Nos. 2009CB320602 and 2002CB312200
文摘In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.
