摘要
首先给出五级倒立摆的数学模型并验证了它的可控性;然后在分析与倒立摆系统稳定性有关因素的基础上,结合LQR理论构造出一种非对角型的权重矩阵,并给出了设定该矩阵中各元素的方法;最后设计出一个简单的基于二元分片插值函数的模糊控制器,成功地实现了具有定位功能的五级倒立摆的控制.仿真结果表明该方法是有效的.
The mathematical model on the quintuple inverted pendulum is presented, and its controllability is verified. Based on the LQR theory and the discussion of multiple factors related to the stability of the inverted pendulum, a non-diagonal weight matrix is constructed and a method to set the value of the matrix elements is proposed. An efficient fuzzy controller based on 2-ary piecewise interpolation function is designed, and the simulation of the quintuple inverted pendulum is described in detail. The results of the simulation show the validation of the proposed method.
出处
《控制与决策》
EI
CSCD
北大核心
2005年第4期392-397,共6页
Control and Decision
基金
国家自然科学基金重点项目(60234030)
国家杰出青年科学基金项目(60225015)
高等学校优秀青年教师教学科研奖励计划项目.
关键词
五级倒立摆
模糊控制
LQR理论
Controllability
Equations of state
Mathematical models
Matrix algebra
Pendulums
