Controller Design of Flexible Double-Inverted Pendulum with Uncertainties Based on T-S Fuzzy Inference System

摘要：

　　Mathematical modeling of the flexible double-inverted pendulum with uncertain friction coefficient is presented by Lagrange function in this paper.Based on Takagi-Sugeno fuzzy inference and parallel distributed compensation(PDC)theory,the controller design approach is proposed.Based on the concept of effective maximum overlap-rules group,the stability condition of T-S fuzzy system for flexible double-inverted pendulum is relaxed to finding a local public positive definite matrix.As a result,stability conservativeness of T-S fuzzy system is decreased.According to the new relaxed stability condition,linear matrix inequalities are designed for solving the feedback gain of each subsystem,and the controller based on parallel distributed compensation is given.Simulation results show that the designed controller can effectively control the uncertain flexible double-inverted pendulum.

关键词： Flexible double-inverted pendulum Adaptive fuzzy control T-S fuzzy systems

作者: Jimin Yu Liangsheng Nan Linyan Huang

作者单位: College of Automation,Chongqing University of Posts and Telecommunications,No.2,Chongwen Road,Nanan District,Chongqing,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 233-243

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）