The Modelling and Control of Flywheel Inverted Pendulum System
Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated and did system performance analysis. Then, as the linear model, the fuzzy controller is designed based on packet control. The method can decrease the number of fuzzy rules and avoid the rules explosion. The simulation results show that the fuzzy controller makes the system achieve stabilization and balance control.
flywheel inverted pendulum system dynamic model fuzzy control
Xiao-gang Ruan Yu-feng Wang
Artificial Intelligence and Robot Institute Beijing University of Technology Beijing 100124 China
国际会议
成都
英文
423-427
2010-07-07（万方平台首次上网日期，不代表论文的发表时间）