摘要
为了实现倒立摆系统控制的快速性和稳定性的有机结合,提出将近年来出现的模糊预测函数算法运用于倒立摆系统之中的控制方案,采用预测函数控制建立的模型输出对实际模型输出进行补偿,从而设计了倒立摆的模糊预测函数控制器,并进行了计算机仿真和实时控制。结果表明,在抑制外部扰动和实时控制性方面,可以达到较为满意的控制效果,具有较强的鲁棒性。
In order to achieve the rapid and stability of the organic integration of inverted pendulum control,a fuzzy predictive functional control method appearing in recent years which would be applied to inverted pendulum system was put forward,in which used the model output of predictive functional control to compensate the actual output and designs the fuzzy predictive functional controller,as well as conducts computer simulation and real-time control.The results showed that in the inhibition of external disturb...
出处
《武汉理工大学学报》
EI
CAS
CSCD
北大核心
2008年第1期146-149,共4页
Journal of Wuhan University of Technology
关键词
预测控制
模糊预测函数控制
倒立摆
predictive control
fuzzy predictive functional control
inverted pendulum
