Inverted Pendulum Control Algorithm

Inverted pendulum is robotics, intelligent control theory, computer-controlled areas and technology combination, it is an absolute instability of the controlled system, higher-order, multivariable, strong coupling and nonlinear robustness system. In the control process, the inverted pendulum control system can effectively reflect the many issues, such as nonlinear problems, robustness issues, with the dynamic problems, stabilization and tracking problems, so inverted pendulum system can be used as a controlled system to verify the correctness of a theory and practical applications feasible.This paper mainly adopts fuzzy control and adaptive neural network fuzzy control and variable structure control method to design the controller of the inverted pendulum system. First, introduced the inverted pendulum system control rule and movement modal, on this basis, build its mathematical model. In the equilibrium point,linearization mathematical model to get linear model,then analyzes the stability of the system and controllability. Fuzzy control theory in the use of inverted pendulum system and stability control, often can appear explosion problem, so in this paper the concept of integration of functions is proposed, using this function can greatly simplify the complexity of the fuzzy controller. In addition, it proposes a new intelligent control method, this control method is the optimal control, fuzzy control, neural network and adaptive method of fully integrate. Firstly, the optimal control of inverted pendulum system integrated multiple input variables, reducing the number of input variables; then using BP algorithm and the gradient descent method combined with the hybrid algorithm using the already obtained objective input and output data sets to modify the fuzzy controller shape of membership functions and control rules,so proposed adaptive neural network based fuzzy inference system to achieve the inverted pendulum system modeling and simulation. Simulation results show that this method for inverted pendulum control system has good robustness, its control effect is better than the general fuzzy controller. For the linear double inverted pendulum system with nonlinear characteristics, proposed variable structure control method. Analysis of the siding mode existence conditions, reaching condition, and use the final sliding mode control method to design optimal switching surface and control law. Simulation results show that variable structure control method can make an inverted pendulum system to achieve satisfactory stability effect.