基于LMI的CDF方法在倒立摆控制中的应用研究  

Research on application of CDF method based on LMI in pendulum control

作　　者：刘瑞丽[1] 代冀阳[1] 邹水木[1] 

机构地区：[1]南昌航空工业学院自动化学院,江西南昌330063

出　　处：《南昌航空工业学院学报》2007年第1期21-25,共5页Journal of Nanchang Institute of Aeronautical Technology（Natural Science Edition）

摘　　要：基于单级倒立摆这一非线性系统的T-S模糊模型,提出了一种采用模糊模型相除补偿技术和LMI技术相结合的模糊控制器设计方法,并在MATLAB/Simulink上进行了仿真试验。仿真结果表明,该方法与基于LMI的PDC方法相比,具有调节时间短,保守性更小的特点,规则越多,优势越明显,非常适用于复杂非线性系统的控制。Based on the T-S fuzzy model of the single-inverted pendulum, a design method of fuzzy controller is presented by using the con-eept of CDF （compensation and division for fuzzy model） and the approach of linear matrix inequality. Also, the simulation is done based on MATLAB/Simulink. The result of simulation shows that CDF based on LMI can adjust more quickly than PDC based on LMI. It is also shown that the controller with concept of CDF is less conservative than that with PDC. The more rules, the more advantages. It is very suitable for the complex nonlinear systems.

关 键 词：单级倒立摆 T-S模糊模型 模糊模型相除补偿法 线性矩阵不等式 区域极点配置 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]