| 四级倒立摆的状态变量合成模糊神经网络控制 |
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| 引用本文： | 李莉,任洪亮,李福义. 四级倒立摆的状态变量合成模糊神经网络控制[J]. 计算机测量与控制, 2003, 11(6): 435-438 |
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| 作者姓名： | 李莉 任洪亮 李福义 |
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| 作者单位： | 1. 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001
2. 哈尔滨工程大学,动力与核能工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 文章给出了四级倒立摆系统的硬件组成，分析了四级倒立摆的系统结构、建立了数学模型。分析了系统的可控性、可观测性，给出了一种基于状态变量合成的模糊神经网络控制控制方法。在实践中证明该方法可行，成功地立起四级倒立摆。
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| 关 键 词： | 现代控制理论 四级倒立摆 状态变量合成 模糊神经网络 模糊控制 数学模型 |
| 文章编号： | 1671-4598(2003)06-0435-04 |
| 修稿时间： | 2002-08-01 |
Control of Four Level Inverted Pendulum by Using State Varieties Synthesis Fuzzy Neural Network |
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| LI Li ,REN Hong liang ,LI Fu yi. Control of Four Level Inverted Pendulum by Using State Varieties Synthesis Fuzzy Neural Network[J]. Computer Measurement & Control, 2003, 11(6): 435-438 |
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| Authors: | LI Li REN Hong liang LI Fu yi |
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| Affiliation: | LI Li 1,REN Hong liang 2,LI Fu yi 1 |
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| Abstract: | The hardware structure of the four level inverted pendulum control system is presented. The observability mathematical model and the system construction of the four level inverted pendulum are analyzed. The controllability and observablility of system are also analyzed. State varieties synthesis fuzzy neural network controller is used in order to solve the rule number's explosion problem in multi-variable. In practice, the feasibility of the system has been proved. The four level inverted pendulum has been stood successfully. |
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| Keywords: | fuzzy neural network state variables synthesis the four level inverted pendulum controllability observability |
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