Stabilization of the quadruple inverted pendulum by variable universe adaptive fuzzy controller based on variable gain H a regulator

被引：13
|
作者：
Zhang, Yongli [1 ]
Wang, Jiayin [2 ]
Li, Hongxing [1 ]
机构：
[1] Dalian Univ Technol, Fac Elect Informat & Elect Engn, Dalian 116024, Peoples R China
[2] Beijing Normal Univ, Sch Math Sci, Key Lab Math & Complex Syst, Minist Educ, Beijing 100875, Peoples R China
来源：
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY | 2012年 / 25卷 / 05期
基金：
中国国家自然科学基金; 高等学校博士学科点专项科研基金;
关键词：
Quadruple inverted pendulum; variable gain H-infinity regulator (VGH(infinity)R); variable universe adaptive fuzzy controller (VUAFC); algebraic Riccati equation (ARE); DESIGN;
D O I：
10.1007/s11424-012-0011-y
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper, the variable universe adaptive fuzzy controller based on variable gain H-a regulator (VGH(a)R) is designed to stabilize a quadruple inverted pendulum. The VGH(a)R is a novel robust gain-scheduling approach. By utilizing VGH(a)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.
引用
收藏
页码：856 / 872
页数：17
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