Fuzzy Control of Double Inverted Pendulum by Using State Varieties Fusion Function
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.
fuzzy control fusion function double inverted pendulum real time control
Zhang Shifeng Zhang Zhenxing Jin Ke Yang Cheng
School of Electrical Engineering & Information Anhui University of Technology Maanshan, Anhui Province, 243002, China
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
2708-2711
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）