摘要
采用模糊控制理论研究二级倒立摆控制问题。设计融合函数以降低模糊控制器输入变量维数,引入一种与系统动态性能密切相关的性能指标,提出应用混沌优化算法优化加权矩阵来提高控制系统的性能。本方案在实物二级倒立摆上进行了实验,结果证明该设计方法有效。
The fuzzy control theory was introduced in order to study the controlling problem of the double inverted pendulum. Chaos optimization linear quadratic controller based on the dynamic performance index was proposed, in order to solve the choice of weighting matrix problem. The dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory, and the quality of the fuzzy controller was improved. The effectiveness of this method is demonstrated by the real-time control curves of the double inverted pendulum.
出处
《安徽工业大学学报（自然科学版）》
CAS
2008年第4期413-416,共4页
Journal of Anhui University of Technology（Natural Science）
关键词
混沌优化
二级倒立摆
融合函数
模糊控制
chaos optimization
double inverted pendulum
fusion function
fuzzy control
