| 倒立摆的双闭环模糊控制 |
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| 引用本文： | 张乃尧 Ebert,C.倒立摆的双闭环模糊控制[J].控制与决策,1996,11(1):85-88. |
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| 作者姓名： | 张乃尧 Ebert C |
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| 作者单位： | 清华大学自动化系 |
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| 摘 要： | 对倒立摆采用双闭环的模糊控制方案，内环控制倒立摆的角度，外环控制倒立摆的位置，两个模糊控制器的设计都很简单，执行时间很短。在实际倒立摆装置上的实验结果验证了该方案的可行性和良好的控制性能。
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| 关 键 词： | 倒立摆 模糊控制 摆 |
Fuzzy Cascade Control of an Inverted Pendulum |
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| Zhang Naiyao, C. Ebert, R. Belschner, H. Strahl.Fuzzy Cascade Control of an Inverted Pendulum[J].Control and Decision,1996,11(1):85-88. |
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| Authors: | Zhang Naiyao C Ebert R Belschner H Strahl |
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| Abstract: | In this paper a fuzzy cascade control scheme for inverted pendulum is presented. The inner fuzzy controller regulates the angle of pendulum, while the outer fuzzy controller is for positioning the cart. Using this scheme the design of fuzzy controllers is much easier, and the executing time is much shorter. The experiment results on a real apparatus have shown that the scheme is effective. |
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| Keywords: | fuzzy logic control fuzzy cascade control inverted pendulum |
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