模糊神经网络的二级倒立摆稳定控制分析  

Equilibrium control analysis of double-link inverted pendulum based on fuzzy-neural-network

作　　者：胡阳[1] 王吉芳[1] 

机构地区：[1]北京信息科技大学机电系统测控北京市重点实验室,北京100192

出　　处：《北京机械工业学院学报》2008年第4期24-28,共5页Journal of Beijing Institute of Machinery

基　　金：北京市教育委员会科技计划面上项目(KM200611232012)

摘　　要：在MATLAB环境下,针对二级倒立摆系统稳定控制问题,引入新的智能控制策略,该种方法采用BP算法与最小二乘(LSE)算法结合的混合算法对Takagi-Sugeno模糊模型中的前件及后件参数进行优化修正,在已获得的客观输入、输出样本集的基础上,提出一种基于自适应神经网络的模糊推理系统ANFIS来对倒立摆系统进行"倒立"控制。实时控制结果表明,所提出的控制方法是可行而且有效的。Under the environment of MATLAB, aiming at equilibrium control problem of double-link inverted pendulum system, a new intelligent control strategy is introduced. A mixed arithmetic of BP and LSE arithmetic are used, in order to optimize and amend the front-part and later-part parameter of Takagi-Sugeno fuzzy model. Based on the objective input-output sample set acquired, a sort of self-adaptive neuro-fuzzy inference system is put forward for inverted control of inverted pendulum. The result of real- time equilibrium control shows this control method is available and effective.

关 键 词：二级倒立摆 模糊神经网络 自适应神经模糊推理系统 实时稳定控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]