| 倒立摆的Reinforcement Learning模糊自适应控制 |
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| 引用本文： | 廉自生,孟巧荣. 倒立摆的Reinforcement Learning模糊自适应控制[J]. 太原理工大学学报, 2005, 36(4): 405-408 |
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| 作者姓名： | 廉自生 孟巧荣 |
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| 作者单位： | 1. 太原理工大学,机械工程学院,山西,太原,030024
2. 太原理工大学,采矿工艺研究所,山西,太原,030024 |
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| 摘 要： | 根据Lagrange方程建立了单级倒立摆系统的数学模型，利用模糊自适应控制算法设计了倒立摆系统的控制器，并在Matlab的仿真模块中将倒立摆系统的数学模型和控制器结合起来．对倒立摆控制系统进行了仿真研究。结果表明，对于要求实时性较高的非线性不稳定系统。用模糊自适应控制算法可以按照控制要求在线调节控制参数，在最短的调整时间内取得良好的控制效果。
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| 关 键 词： | 单级倒立摆 Reinforcement Learning 模糊自适应控制 |
| 文章编号： | 1007-9432（2005）04-0405-04 |
| 收稿时间： | 2004-12-03 |
| 修稿时间： | 2004-12-03 |
RL Adaptive Fuzzy Control of the Inverted Pendulum System |
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| LIAN Zi-sheng,MENG Qiao-rong. RL Adaptive Fuzzy Control of the Inverted Pendulum System[J]. Journal of Taiyuan University of Technology, 2005, 36(4): 405-408 |
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| Authors: | LIAN Zi-sheng MENG Qiao-rong |
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| Abstract: | This paper deduces the mathematical model of a single-inverted pendulum system by Lagrange equation and designs its controller by the adaptive fuzzy method, later, combining its model and controller in Matlab simulation and operating it. The results of the simulation indicate that in the shortest adjustable times the adaptive fuzzy controller can fully control the nonlinearunsteady system which need change its control methods at all times according to its motional situation by adjusting the control parameters. |
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| Keywords: | single-inverted pendulum reinforcement learning adaptive fuzzy control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
