Adaptive Human-Simulated Intelligent Controller and Its Application in Double Inverted Pendulum

被引：0
|
作者：
Qi Qian [1 ]
Li Zu-shu [1 ]
Tan Zhi [1 ]
Dan Yuan-hong [1 ]
Xiao Lin [1 ]
机构：
[1] Chongqing Univ, Automat Dept, Chongqing 630044, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
Adaptive Fuzzy PD; Double Inverted Pendulum; Human-Simulated Intelligent Controller;
D O I：
10.1109/WCICA.2010.5554922
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To expand the initial angle condition in stabilizing the double inverted pendulum, the adaptive Human-Simulated Intelligent Controller is proposed. Based on it, the phase plane is divided into tow blocks according to requirement of control performance. Within the zero block the integration action works; Outside the zero block the adaptive fuzzy PD works. This control structure, called after adaptive Human-Simulated Intelligent Controller, provides the strong nonlinearity performance to satisfy the control requirement. The simulation results show this method expands the initial angle conditions 1.5 times that of the classical LQR controller and obtains the better stabilization performance.
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页码：1063 / 1066
页数：4
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