Design Of Controller On Triple Inverted Pendulum Based On Triple Inverted Pendulum Variable Universe Adaptive Fuzzy Control Theory

An inverted pendulum is a typical nonlinear, multivariable, strong coupling and unstable system. The research on the inverted pendulum has important theoretical and practical significance. Because many problems can be reflected in the control process, an inverted pendulum system is often used as an experimental method to research and verify the control method and theory. The inverted pendulum's movement and stability is similar to the stability of the rocket flight and the movement of the robot joint, so the research on the inverted pendulum has important practical significance. We choose the triple inverted pendulum as the research object to simulation and experiment on the inverted pendulum system, which use the method of variable universe adaptive fuzzy control theory. As a result, the variable universe adaptive fuzzy controller based on fuzzy neural network has good control effect. Main tasks are as follows:Above all, we introduce the research significance, categories, characteristic analysis and research status of the inverted pendulum. We can recognize the inverted pendulum generally.Secondly, the structure is introduced. A triple inverted pendulum model is built, which use the method of Newtonian mechanics and Lagrange. Meanwhile, though the qualitative analysis, it proves that the inverted pendulum is completely controllable.Finally, the variable universe adaptive fuzzy control theory proposed by Professor Li Hongxing is introduced and analyzed in detail.The improvement method of fuzzy neural network is also be proposed. We design a dilation factor based on fuzzy neural network, and then, the associated controllers are analyzed and compared by the result of MALAB simulation.