Modeling And Control Of The Inverted Pendulum Based On Rough Set-fuzzy Set Theory

The inverted pendulum is a kind of typically nonlinear,multi-variable,unstable and fast system.lt is considered as a physical model and a instrument in research and teaching.Beacause a lot of controlled object can be abstracted as the inverted pendulum,and it can reflect many key problems,such as stable,nonlinear,robust,the inverted pendulum appeal people'eyes.Therefore,the research of the inverted pendulum has important engineering background and profound significance.Firstly,the paper introduce the important influence of intelligent control in the research of the inverted pendulum.ltespecially illustrate the successful application of fuzzy control,expert control,neural control and so on in the inverted pendulum by examples.Secondly,the paper deduced the model of the inverted pendulum by fomula.At the basis,the paper thoroughly analysis the optimization strategies in the inverted pendulum,ie LQR control from theory,and test it through simulation and experiment.At last,a new fuzzy controller is presented based on the evolution algorithm-the single input rule modules(SIRMs) conneted fuzzy inference.The method successfully solve the problem of " rule explosion ",which is caused by many inputs.Besides,according the different influence on the control effect,we can adjust weight value by mind evolution algorithm(MEA) and chance self-adaptivity.In the control of the double inverted pendulum,hierarchical fuzzy control based on rough set criterion (RSC)of singnificance of influence factors is used.By the theory of RSQwe can check the significance of the six inputs.At the basis,design threehierarchical fuzzy controller,which can also solve the problem of "rule explosion" and achieve control effect.