倒立摆的一种FUZZY-PD复合控制器设计

针对高维模糊控制器设计中的“规则爆炸”问题，以倒立摆为研究对象，直接将四维控制器分解为两个二维控制器，其中一个为PD控制器、一个为二维模糊控制器，并将这两个控制器输出直接叠加作为控制量，在此基础上，借助状态反馈极点配置方法，提出了一种比较系统化的模糊控制器参数估计方法，以弥补模糊控制器参数系统化设计方法的不足，对倒立摆系统的仿真及对它的实时控制结果均验证了该复合控制方案及这种模糊控制器参数估计方法的有效性。

Design of hybrid FUZZY-PD controller for inverted pendulum

For an inverted pendulum, a four-dimensional controller is directly decomposed into a pair of two-dimensional controllers, i.e., a PD controller and a fuzzy controller, and the final control value is the sum of the outputs of two controllers. Based on the configuration of a hybrid controller, a relatively systematic method of estimating the parameters of a fuzzy controller is presented by using the result of the pole assignment method to improve the method of designing fuzzy controllers without systematic approach. Both simulation and real-time control show that the hybrid controller and the method of estimating parameters of a fuzzy controller are effective.