Inverted Pendulum Control Simulation Based On The Cmac Two

The control of the inverted pendulum is a traditional question in the control field. The inverted pendulum is a multivariable, highly nonlinear and absolutely unstable dynamic system. In the course of control, it can reflect the important problem effectively, for example, stabilization and robust and so on. So it's the perfect model of proving various control theory. The control problem that the gravity is on the top and the fulcrum is underlying and the stabilization of space aircraft and servo mechanism has great relation with the control of inverted pendulum. So the stabilization control has much use of production and life. The research of inverted pendulum has the important sense of theory and fact, becomes the permanent research problem of control theory.On the basic of the physical model of the double inverted pendulum, the paper deduces the mathematic model of the double inverted pendulum system by mechanical law of Newton and turning law, and analyses the mathematic model. Introduce the universal control arithmetic LQR in the control of the inverted pendulum, solve the most important problem that the choice of the matrix Q and R in the arithmetic by PSO arithmetic, then realize the emulation that arithmetic LQR control the double inverted pendulum. According as the original data work out the rules of fuzzy control by clustering analysis and establish the fuzzy controller of the double inverted pendulum. Realize the emulation that fuzzy controller controls the mathematic model of the double inverted pendulum. Finally, according as the theory of CMAC, establish the combined controller by combining the fuzzy controller, realize controlling the double inverted pendulum, then compare the control effect of LQR controller and fuzzy controller with the control effect of the combined controller based CMAC. The trained CMAC model can close in upon the reverse dynamic model of the inverted pendulum best. The combined controller has the good restraining ability for the noise in the course of control.Because the sport character of the inverted pendulum has much kindred with the stabilized flight of the carrier rocket and the joint sport of the Biped robot, the combined controller has the important sense in the research of spaceflight and robot.