Research On Stability Control Algorithm Based On Inverted Pendulum System

Inverted pendulum system itself is a typical nonlinear, strong coupling, multivariable and naturally unstable system. It is an ideal model for detecting control theory and control methods in the control field. Some abstract concepts of the control system such as the stability, controllability, robust and so on can be directly reflected by inverted pendulum system. New control strategies and methods are developed from it. The related research achievements are widely used in many fields such as the aerospace and Robots.In this paper, the nonlinear mathematical model of the linear double inverted pendulum system was build by using Lagrange's equations and linear model was obtained. In Simulink of MATLAB the nonlinear and linear models were established by using the methods of building modules and writing S function. LQR algorithm and three kinds of intelligent control algorithms, fuzzy control algorithm with variable fusion, the BP neural network algorithms and adaptive neural network fuzzy algorithm to stabilize the linear double inverted pendulum are discussed. The fuzzy controller with variable fusion was improved and a fuzzy controller whose parameter can be adjusted was designed. Besides, the heritage algorithm was used to optimize the fuzzy controller. All the control algorithms were simulated and then applied to googol pendulum experimental device to verify the control effect.