基于模糊加权的倒立摆混合控制

针对小车倒立摆系统,提出了一种线性状态反馈控制和滑模控制模糊加权的控制方法.滑模控制器的作用是将摆角控制在零的一个邻域内,在此邻域内首先采用近似的线性化模型来描述倒立摆系统,然后采用基于极点配置的方法设计系统的线性状态反馈控制器以使系统的状态稳定在给定值,两个控制器的输出通过加权求和作为倒立摆的控制作用.仿真结果证实了该方法的有效性.

Fuzzy weighted hybrid control for inverted pendulum

A fuzzy-weighted control method,which combines sliding mode control and linear state feedback,is proposed for inverted pendulum.Sliding mode control was used to regulate the pendulum angle to neighborhood of zero.In the neighborhood of zero,the linear model was obtained by approximating the nonlinear model of inverted pendulum and the linear state feedback controller based on pole assignment was designed to stabilize the state of the system.A weight-sum of the controller outputs was then used to supply the control action to inverted pendulum.The results of simulation demonstrated the effectiveness of the method.