现代电子技术2013，Vol.36Issue(2)：77-79,82,4.
倒立摆系统的鲁棒H_∞加权混合控制
Robust H_∞ weighted hybrid control for inverted pendulum system
杜璧秀1
作者信息
- 1. 中国科学院长春光学精密机械与物理研究所,吉林长春130033
- 折叠
摘要
Abstract
In order to establish an ideal experimental platform for the control theory teaching and various control experiments, the inverted pendulum system with uncertain structural parameter and interfering signal is studied. Firstly, this inverted pendulum system is decomposed into swinging rod control system and vehicle control system. Takagi-Sugeno (T-S) fuzzy model is adopted to describe the swinging rod control system, which is expressed in the form of uncertain systems according to the uncertainty of the sys-tem. The robust H_∞ control strategy and LMI optimization algorithm are utilized to resolve the feedback results, and design the overall asymptotically stable fuzzy model. The method of fuzzy computation for the position error and the vehicle velocity is applied to the vehicle control system, and then the controlled variable are obtained by calculations with the fuzzy controller. Finally, the weighted hybrid control is applied to the two systems. In the experiments of additional jamming signal, given translation instruction and parameter perturbation, the inverted pendulum system can achieve perfect control effect within 0.4 second. The results show that the weighted control method proposed in this paper has high robust stability and high anti-interference performance.关键词
倒立摆系统/T-S模糊控制/鲁棒镇定/参数不稳定性/线性矩阵不等式Key words
inverted pendulum system/T-S fuzzy control/robust stability/parametric uncertainty/linear matrix inequality分类
信息技术与安全科学引用本文复制引用
杜璧秀..倒立摆系统的鲁棒H_∞加权混合控制[J].现代电子技术,2013,36(2):77-79,82,4.
