模糊指数趋近律参数的二级倒立摆控制

滑模变结构控制是一种开关控制,在工程应用中由于频繁地切换系统的控制状态,系统往往会产生抖振现象,通过常规方法难以克服由此产生的不利影响。针对该抖振问题,将模糊控制引入滑模变结构控制中,对指数趋近律中的参数进行模糊在线校正,设计了一种模糊滑模变结构控制器,并应用于直线二级倒立摆系统中。经过仿真研究表明,这种方法可以对直线二级倒立摆进行有效的控制,在保留系统鲁棒性的同时显著地削弱了系统抖振。

Fuzzy Exponential Velocity Trending Law Parameters of a Double Inverted Pendulum Control

Sliding mode variable structure control is a switch control,in engineering application, the system usually will produce chattering phenomena due to frequent switching system control state,and through the conventional methods are hard to overcome the resulting adverse impact.So fuzzy control is introduced to sliding mode variable structure control in view of this problem chattering,fuzzy the parameters of exponential velocity trending law online correction,a kind of fuzzy sliding mode variable structure controller is designed,and applicated in the double inverted pendulum system.Through the simulation research show that the method can realize effective control to linear double inverted pendulum,and in the reserves the system robustness of significantly weaken the chattering system.