| 基于动平衡状态的不确定倒立摆系统跟踪控制 |
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| 引用本文： | 邱德慧,王庆林,周游.基于动平衡状态的不确定倒立摆系统跟踪控制[J].应用基础与工程科学学报,2012(2):336-344. |
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| 作者姓名： | 邱德慧 王庆林 周游 |
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| 作者单位： | 首都师范大学信息工程学院;北京理工大学自动化学院 |
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| 基金项目： | 国家自然科学基金项目资助(60905051) |
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| 摘 要： | 针对存在不确定摆杆质量、长度和外加干扰的倒立摆系统的稳定控制问题,提出了基于动平衡状态理论的鲁棒自适应控制策略.首先对台车位置和摆杆摆角规划了理想的动平衡状态参考轨迹,然后应用分段滑模和模糊逻辑系统设计了直接自适应模糊控制器实现对动平衡状态的实时跟踪.理论分析和仿真结果证明了不确定倒立摆系统是全局渐近稳定的,并具有很好的适应性和鲁棒性.
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| 关 键 词： | 不确定倒立摆系统 动平衡状态 鲁棒自适应控制 模糊逻辑系统 |
Tracking Control for Uncertain Inverted Pendulum Systems Based on the Dynamic Equilibrium State Theory |
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| QIU Dehui,WANG Qinglin,ZHOU You.Tracking Control for Uncertain Inverted Pendulum Systems Based on the Dynamic Equilibrium State Theory[J].Journal of Basic Science and Engineering,2012(2):336-344. |
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| Authors: | QIU Dehui WANG Qinglin ZHOU You |
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| Institution: | 1.School of Information Engineering,Capital Normal University,Beijing 100048,China;2.School of Automation,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | With the dynamic equilibrium state theory,a robust adaptive control strategy is presented to realize stable control of inverted pendulum systems in presence of uncertain mass and length of the pendulum and external disturbances.First,the ideal dynamic equilibrium state reference trajectories were planned to position of the cart and angle of the pendulum.Then,a direct adaptive fuzzy controller was designed to realize real-time tracking for the prescribed trajectories based on cascade sliding mode control and fuzzy logical systems.Theoretical analysis and simulation results show that the uncertain nonlinear inverted pendulum systems are global asymptotically stable,and have good adaptability and robustness. |
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| Keywords: | uncertain inverted pendulum systems dynamic equilibrium state robust adaptive control fuzzy logic systems |
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