基于LQR三级倒立摆变论域自适应模糊控制  

Theory-region Changed Adaptive Fuzzy Control of Triple Inverted Pendulum Based on LQR

作　　者：洪晓英[1] 刘成永[1] 

机构地区：[1]山东大学威海分校信息工程学院,山东威海264209

出　　处：《控制工程》2006年第5期445-448,共4页Control Engineering of China

基　　金：山东大学威海分校校内基金资助项目

摘　　要：针对传统模糊控制的不足,以三级倒立摆为例,应用变论域自适应模糊控制理论,给出了三级倒立摆的数学模型,并验证了其可控性。考虑到三级倒立摆为多变量系统,为了解决模糊控制器规则组合爆炸问题,利用LQR理论先设计出状态反馈器,再进行降维处理。最后利用变论域自适应模糊控制理论给出伸缩因子,从而得到变论域自适应模糊控制器。仿真结果表明,该方法控制精度高,具有良好的稳定性和鲁棒性,可实现倒立摆系统的随动控制。To the deficiency of traditional fuzzy control the mathematical model on the triple inverted pendulum is presented, and its control ability is verified, by using the theory-region changed adaptive fuzzy control theory. To solve the fuzzy Me number explosion problem in multivariable system, the state feedback controller is designed by LQR theory. The dimension is reduced. The flex gene is designed to get theory-region changed adaptive fuzzy control. The simulation results show the validation and the robustness of the method.

关 键 词：三级倒立摆 变论域自适应模糊控制 LQR 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]