Inverted Pendulum Based On Fuzzy Neural Network Control Technology

The inverted pendulum system is characterized as a typical high-order, multi-variable, unstable, strong-coupling nonlinear system. The research on the control technologies about the inverted pendulum has great engineering value to the control of the complex industrial object. At present, there are many achievements concerning about the stabilization control of inverted pendulum system with intelligent control methods. But there is rare research about entirely expatiating on the control of inverted pendulum system from swing-up to stabilization.On the basis of discussing the state equation of the single inverted pendulum, this paper realized the entire course from swing-up to stabilization with the intelligent control theories such as fuzzy logic and neural network. It did the emulational experiments and animational simulations by MATLAB/Simulink while the corresponding conclusions were finally given in the paper after comparing the effects of all methods.The problems resolved in this paper were as follows:On the base of introduction for the background, significance and current situation of the research about inverted pendulum system control technologies, it presented about the control system structure model and mathematical model of the single inverted pendulum while it analyzed the stability and controllability of single inverted pendulum system.It researched about the stabilization control technologies. On the base of expatiation on the conceptual frameworks of fuzzy control and its technologies, the applications of Mamdani Model and Sugeno Model for the inverted pendulum system control were introduced with great emphasis while the stabilization emulational experiment with Mamdani Model was done. It also introduced the conceptual frameworks of neural network and the basic principles of fuzzy neural network control. The Adaptive-Network-based Fuzzy Inference System (ANFIS) was introduced in succession with its structure and hybrid arithmetic while the stabilization emulational experiment with ANFIS was done.On the premise of the stabilization, swing-up control was introduced. It analyzed the process of swing-up, realized the swing-up control by energy feedback control technique and explored switch control strategies between swing-up and stabilization. Consequently, the global control from swing-up to stabilization was realized.