LQR-Fuzzy Control for Double Inverted Pendulum

摘要：

According to the Lagrange equation, the mathematical model for the double inverted pendulum is first presented. For the fuzzy controller, the dimension of input varieties of fuzzy controller is depressed by designing a fusion function using optimization control theory, and it can reduce the rules of fuzzy sharply, rule explosion problem is solved. The result shows that the LQR-Fuzzy logic controller not only has quite good stability, but also be able to make the cart of the pendulum moving to the designed in advance place along the orbit

关键词： inverted pendulum LQR fuzzy control fusion function

作者: Wang Luhao Sheng Zhanshi

作者单位: Jiangsu University, Zhenjiang, Jiangsu ,212013,China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 899-902

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）