Fuzzy Control of Double Inverted Pendulum by Using State Varieties Fusion Function
会议名称：《第24届中国控制与决策会议》
会议日期：2012年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
基 金：Natural Science Foundation of Education Department of Anhui Province P.R.China. (KJ2008B104)
关 键 词：fuzzy control fusion function double inverted pendulum real time control
摘 要：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.