| Variable universe adaptive fuzzy control on the quadruple inverted pendulum |
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| 作者姓名： | 李洪兴 苗志宏 王家银 |
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| 作者单位： | LI Hongxing MIAO Zhihong& WANG Jiayin1. Department of Mathematics，Beijing Normal University，Beijing 100875，China;2. Department of Mathematics，Sichuan Normal University，Chengdu 610066，China;3. Department of Automatic Control，Tsinghua Un |
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| 基金项目： | This work was supported by the National Natural Science Foundation of China (Grant Nos. 69974006 and 60174013) . |
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| 摘 要： | This paper focuses on the control problem of the quadruple inverted pendulum by variable universe adaptive fuzzy control. First, the mathematical model on the quadruple inverted pendulum is described and its controllability is versified. Then, an efficient controller on the quadruple inverted pendulum is designed by using variable universe adaptive fuzzy control theory. Finally the simulation of the quadruple inverted pendulum is shown in detail. Besides, the experimental results on the hardware systems, i.e. real object systems, on a single inverted pendulum, a double inverted pendulum and a triple inverted pendulum are briefly introduced.
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Variable universe adaptive fuzzy control on the quadruple inverted pendulum |
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| Hongxing Li, Miao Zhihong and Wang Jiayin.Variable universe adaptive fuzzy control on the quadruple inverted pendulum[J].Science in China(Technological Sciences),2002,45(2):213-224. |
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| Authors: | Hongxing Li Miao Zhihong and Wang Jiayin |
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| Affiliation: | 1. Department of Mathematics,Beijing Normal University,Beijing 100875,China;Department of Mathematics,Sichuan Normal University,Chengdu:610066,China;Department of Automatic Control,Tsinghua University,Beijing 100084,China
2. Department of Mathematics,Beijing Normal University,Beijing 100875,China |
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| Abstract: | This paper focuses on the control problem of the quadruple inverted pendulum by variable universe adaptive fuzzy control. First, the mathematical model on the quadruple inverted pendulum is described and its controllability is versified. Then, an efficient controller on the quadruple inverted pendulum is designed by using variable universe adaptive fuzzy control theory. Finally the simulation of the quadruple inverted pendulum is shown in detail. Besides, the experimental results on the hardware systems, i.e. real object systems, on a single inverted pendulum, a double inverted pendulum and a triple inverted pendulum are briefly introduced. |
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| Keywords: | quadruple inverted pendulum variable universe adaptive fuzzy control |
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