摘要
对倒立摆采用双闭环的模糊控制方案，内环控制倒立摆的角度，外环控制倒立摆的位置，两个模糊控制器的设计都很简单，执行时间很短。在实际倒立摆装置上的实验结果验证了该方案的可行性和良好的控制性能。
In this paper a fuzzy cascade control scheme for inverted pendulum is presented. The inner fuzzy controller regulates the angle of pendulum, while the outer fuzzy controller is for positioning the cart. Using this scheme the design of fuzzy controllers is much easier, and the executing time is much shorter. The experiment results on a real apparatus have shown that the scheme is effective.
出处
《控制与决策》
EI
CSCD
北大核心
1996年第1期85-88,共4页
Control and Decision
基金
清华大学科学基金
关键词
倒立摆
模糊控制
摆
fuzzy logic control, fuzzy cascade control, inverted pendulum
