| 基于模糊动态模型的二级倒立摆系统的分析和设计 |
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| 引用本文： | 姚宏伟,梅晓榕,杨振强,庄显义. 基于模糊动态模型的二级倒立摆系统的分析和设计[J]. 控制理论与应用, 2001, 18(2): 224-227 |
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| 作者姓名： | 姚宏伟 梅晓榕 杨振强 庄显义 |
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| 作者单位： | 哈尔滨工业大学控制工程系 |
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| 摘 要： | 首先给出了一种离散系统模糊动态模型的辨识方法，提出了一个衡量聚类有效性的函数，以确定模糊规则的数目，并给出一个保证模糊系统全局稳定的充分条件，在此基础上给出了模糊控制系统的设计方法，并对二级倒立摆系统进行了控制，取得了较好的效果。
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| 关 键 词： | 模糊动态模型 模糊聚类 二级倒立摆系统 模糊控制系统 |
| 文章编号： | 1000-8152(2001)02-0224-04 |
| 收稿时间： | 1999-04-28 |
| 修稿时间： | 2000-03-06 |
Analysis and Design of a Double Inverted Pendulum Based on the Dynamic Fuzzy Model |
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| YAO Hong-wei,MEI Xiao-rong,YANG Zhen-qiang and ZHUANG Xian-yi. Analysis and Design of a Double Inverted Pendulum Based on the Dynamic Fuzzy Model[J]. Control Theory & Applications, 2001, 18(2): 224-227 |
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| Authors: | YAO Hong-wei MEI Xiao-rong YANG Zhen-qiang ZHUANG Xian-yi |
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| Affiliation: | Department of Control Engineering, Harbin Institute of Technology, Harbin,150001, P.R.China;Department of Control Engineering, Harbin Institute of Technology, Harbin,150001, P.R.China;Department of Control Engineering, Harbin Institute of Technology, Harbin,150001, P.R.China;Department of Control Engineering, Harbin Institute of Technology, Harbin,150001, P.R.China |
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| Abstract: | Firstly, a method of fuzzy dynamic model identification for discretetime system is proposed. A function for measuring clustering validity is defined with which the number of fuzzy rules can be determined. A sufficient criterion that guarantees the global stability of the fuzzy system is presented. Based on this, we develop a design way of the fuzzy control system. This method is proved to have better effect through a double inverted pendulum by experiments. |
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| Keywords: | dynamic fuzzy model fuzzy clustering stability double inverted pendulum |
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