Research And Application Of Fuzzy Control In Planar Double Inverted Pendulum

As a typical example of control theory application, control algorithms'stabilization, nonlinear, robustness and other key issues can be reflected by the control method of inverted pendulum .These theoretical results is the important theoretical direction to military, aerospace, robotics and general industrial process. As the planar double inverted pendulum's mechanical structure and control method are more complexity, and which bring some difficulty to the realization of the project, so its research is little at present.GPIP2002 planar double inverted pendulum of Google is regarded as the research object and a control method of planar double inverted pendulum is described in this paper. Firstly, the plane inverted pendulum's dynamic model is analyzed, the mathematical model is established based on Lagrange's equation. The linearized equation is established then. The system controller is designed by the fuzzy control theory, which has good anti-jamming ability and strong robustness. Composite function which includes composite error and rate of composite error is adopted to reduce the input dimension and the number of fuzzy rules and resolve the problem of "fuzzy rule explosion". Quantify factor and scale factor are used in the input and output of fuzzy controller, the simplex method is used to optimize and adjust the parameters of the quantify factor, scale factor and feedback matrix. The fuzzy controller is established by using the Simulink toolbox. LQR algorithm and fuzzy control algorithm are emulated and used to control planar double inverted pendulum. Multiple sets of simulation and experiment results are compared and analyzed lastly. The results show that compared with LQR algorithm, the fuzzy control algorithm is easier to implement, faster response, stronger robustness.