摘要
针对非线性、多变量、不稳定的二级倒立摆系统,提出基于LQR最优控制设计模糊控制器。利用信息融合技术降低了模糊控制器的维数,因而简化了多变量模糊控制器的设计过程。仿真结果表明,这种控制器不但结构简单,而且具有很好的控制效果。
For the double inverted pendulum which is a nonlinear and strong-complying system, a fuzzy controller based on LQR optimal control theory is introduced. Using information fusion, input varieties＇ dimensions of the fuzzy controller are depressed which simplified the design of multi-variety fuzzy controller. Simulation and experiment prove that the fuzzy controller has a simple structure and give good control performance.
出处
《煤矿机械》
北大核心
2009年第9期196-199,共4页
Coal Mine Machinery
基金
河南省科技攻关项目(082300410290)
关键词
模糊控制
倒立摆
信息融合
LQR
fuzzy logic control
inverted pendulum
information fusion
LQR
