平面倒立摆自适应滑模模糊控制  

Adaptive sliding mode fuzzy control of planar inverted pendulum

作　　者：段学超[1] 仇原鹰[1] 段宝岩[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071

出　　处：《控制与决策》2007年第7期774-777,782,共5页Control and Decision

基　　金：国家自然科学基金重点项目(10433020);教育部留学回国人员实验室基金项目(030401).

摘　　要：采用拉格朗日方程建立平面倒立摆的动力学模型,并将其在平衡位置进行线性化,得到了系统在X和Y两个正交控制方向解耦的近似模型.针对每一个控制方向上由互相耦合的基座小车定位子系统和摆杆镇定子系统组成的欠驱动系统,设计了自适应滑模模糊控制器,实现了基座小车沿圆周行走条件下摆杆的运动平衡控制.行走实验验证了所提出控制算法的有效性.A dynamical model of the planar inverted pendulum is developed by using Lagrange equations. By the linearization of the model at its equilibrium yields, the decoupled linear systems of the inverted pendulum in two perpendicular control directions are obtained. Both of the two systems consist of two coupled subsystems including positioning subsystem of the base cart and balancing system of the pole. For each direction, the adaptive sliding mode fuzzy control approach is developed. Finally, the circular motion of the base cart is implemented and the pole is kept balance. A motion experiment shows the effectiveness of the adaptive sliding mode fuzzy control strategy.

关 键 词：平面倒立摆 解耦 欠驱动系统 自适应滑模 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]