Fuzzy Control of Double Inverted Pendulum by Using State Varieties Fusion Function

被引：0

作者：

Zhang Shifeng ^{[1
]}

Zhang Zhenxing ^{[1
]}

Jin Ke ^{[1
]}

Yang Cheng ^{[1
]}

机构：

[1] Anhui Univ Technol Maanshan, Sch Elect Engn & Informat, Anhui Maanshan 243002, Anhui, Peoples R China

来源：

PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2012年

关键词：

fuzzy control; fusion function; double inverted pendulum; real time control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The method is introduced to control the double inverted pendulum using the fuzzy controller in this paper. Model designed based on the linear state-space expression was obtained by approximating the nonlinear model for inverted pendulum, Dimensions of a fuzzy controller's input varieties are depressed by designing a fusion function which the upper pendulum's angle and angle velocity are chosen as principal components, and it can reduce the rules of fuzzy. This method can greatly simplify the designing process of fuzzy controller. Simulation and real time control experiment in the double inverted pendulum prove that this method has the effectively, fast speed, good stability and good robustness.

引用

页码：2696 / 2699

页数：4

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