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《Journal of Xidian University》 2006-01
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The control arithmetic for the double inverted pendulum based on the fuzzy control theory

GUO Rui-qiu,HONG Xu,SU Wang-wang(School of Mechano-electronic Engineering,Xidian Univ.,Xi′an 710071,China)  
The double inverted pendulum is a multivariable,nonlinear,strong-complying system.The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper.The dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory,and it can reduce the rules of fuzzy greatly.The infection of quantification factors to the effect of control is studied.The quality of the fuzzy controller is improved by adding auto turning quantification factors.Simulation and experiment prove that this fuzzy control arithmetic has the advantages of few rules,fast speed,good stability and good robustness.
【Fund】: 陕西省自然科学基金资助项目(2004F29)
【CateGory Index】: TP273
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