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本文针对非线性、多变量、强耦合的旋转倒立摆系统,利用模糊控制与滑模变结构控制相结合设计了一种模糊变结构控制器,该控制器既保持了滑模变结构控制的快速性和鲁棒性,又能较好地消除单纯采用滑模变结构所产生的抖振问题。仿真结果表明,模糊变结构控制算法能够实现倒立摆的平衡姿态控制,抖振现象基本消除且具有很强的鲁棒性。
In this paper, a fuzzy variable structure controller based on fuzzy control and sliding mode variable structure control is designed for the non-linear, multivariable and strongly coupled rotating inverted pendulum system. The controller not only keeps the sliding mode variable structure control fast Sexuality and robustness, but also eliminate the chattering problems caused by simply adopting the sliding mode variable structure. The simulation results show that the fuzzy variable structure control algorithm can realize the balance attitude control of inverted pendulum, and the chattering is basically eliminated and has strong robustness.