基于T-S模型的倒立摆最优保性能模糊控制  

Takagi-Sugeno model-based optimal guaranteed cost fuzzy control for inverted pendulums

作　　者：郑科[1] 徐建明[1] 俞立[1] 

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310032

出　　处：《控制理论与应用》2004年第5期703-708,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60274034);教育部优秀青年教师教学科研奖励计划项目.

摘　　要：对一类具有范数有界参数不确定性T＿S模糊模型系统,采用状态反馈的并行分布补偿器(PDC)结构,基于线性矩阵不等式处理方法,研究了其最优保性能模糊控制律的设计问题.导出了保性能模糊控制律存在的条件,通过求解一个凸优化问题给出了最优保性能模糊控制律的设计方法,并用此方法设计了倒立摆系统的最优保性能模糊控制器.仿真实验验证了该设计方法的有效性.For a class of Takagi-Sugeno(T-S) fuzzy systems with norm-bounded parameter uncertainties,the problem of designing an optimal guaranteed cost fuzzy controller is considered via the parallel-distributed compensation(PDC) approach.A condition for the existence of guaranteed cost fuzzy control laws was derived in terms of linear matrix inequalities (LMIs),the design problem of the optimal guaranteed cost fuzzy controller was formulated as a convex optimization problem,which could be solved with the existing convex optimization techniques.Furthermore,the proposed approach was used to design the optimal guaranteed cost fuzzy controller for an inverted pendulum.The simulation results demonstrated the effectiveness of the proposed method.

关 键 词：T-S模糊模型 非线性系统 线性矩阵不等式 PDC方法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]