计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
11期
31-34,54
,共5页
平面二级倒立摆%模糊逻辑系统%李雅普诺夫稳定性理论
平麵二級倒立襬%模糊邏輯繫統%李雅普諾伕穩定性理論
평면이급도립파%모호라집계통%리아보낙부은정성이론
planar double inverted pendulum%fuzzy logic systems%Lyapunov stability theory
为提高倒立摆控制系统的抗扰动能力，降低其对未建模动态等的敏感度，研究了不确定平面二级倒立摆的鲁棒自适应控制器的设计方法。把倒立摆动力学模型分解为确定和不确定两部分，用一个非线性参数化模糊逻辑系统逼近平面二级倒立摆的不确定动态，采用李雅普诺夫稳定性理论推导出使平面二级倒立摆的状态误差渐近收敛的鲁棒控制器及自适应律。理论分析和仿真结果表明所提出的控制算法是有效的。
為提高倒立襬控製繫統的抗擾動能力，降低其對未建模動態等的敏感度，研究瞭不確定平麵二級倒立襬的魯棒自適應控製器的設計方法。把倒立襬動力學模型分解為確定和不確定兩部分，用一箇非線性參數化模糊邏輯繫統逼近平麵二級倒立襬的不確定動態，採用李雅普諾伕穩定性理論推導齣使平麵二級倒立襬的狀態誤差漸近收斂的魯棒控製器及自適應律。理論分析和倣真結果錶明所提齣的控製算法是有效的。
위제고도립파공제계통적항우동능력，강저기대미건모동태등적민감도，연구료불학정평면이급도립파적로봉자괄응공제기적설계방법。파도립파동역학모형분해위학정화불학정량부분，용일개비선성삼수화모호라집계통핍근평면이급도립파적불학정동태，채용리아보낙부은정성이론추도출사평면이급도립파적상태오차점근수렴적로봉공제기급자괄응률。이론분석화방진결과표명소제출적공제산법시유효적。
In order to improve the ability to resist disturbance of inverted pendulum control system, and reduce the sensi-tivity to the unmodeled dynamics, etc., a design of the uncertain robust adaptive controller for planar double inverted pen-dulum is studied. The dynamic model of the inverted pendulum is broken down into two parts of the certainty and the uncer-tainty, using a nonlinear parametric fuzzy logic system to approximate the uncertain dynamic of the planar double inverted pendulum, and then a set of robust controller and adaptive laws are derived based on Lyapunov stability theory which makes the state errors of the planar double inverted pendulum asymptotic convergence. Theoretical analysis and simula-tion results show that the designed controller is effective.
