计算机工程与应用2017，Vol.53Issue(12)：261-270,10.DOI:10.3778/j.issn.1002-8331.1611-0251
互联双倒立摆自适应容错模糊控制
Adaptive fault-tolerant fuzzy control of interconnected double inverted pendulum
摘要
Abstract
A delay replacement based adaptive fault-tolerant control method is proposed for a double-inverted pendulum system which is connected by an unknown device. The unknown time delay input signals of the fuzzy approximator are replaced by the bounded references signals, and as a result, the control design is independent on the delay assumptions any more. The fault-tolerant backstepping control and the adaptive control technique are combined to deal with the errors of the replacement and the approximation. The proposed control scheme can compensate for all of the four types of actor faults efficiently, and global stability of the closed-loop system is guaranteed. Simulation results are provided to show the effectiveness of the control approach.关键词
互联双倒立摆/时滞系统/全局稳定性/容错控制Key words
double-inverted pendulum/time-delay systems/global stability/fault-tolerant control分类
信息技术与安全科学引用本文复制引用
郭涛..互联双倒立摆自适应容错模糊控制[J].计算机工程与应用,2017,53(12):261-270,10.基金项目
河南省创新型科技团队项目(No.C20150028) （No.C20150028）
河南省高校创新人才项目(No.15HASTIT021) （No.15HASTIT021）
河南省科技计划项目(No.142300410114) （No.142300410114）
河南省教育厅自然科学基金项目(No.13A520017). （No.13A520017）
