Variable Structure Control Methods Of Double Inverted Pendulum Simulation Research

In the1950s, variable structure control theory appeared. After60years of development,it has become a relatively independent and common control method. Variable structure isapplicable to a very wide range, such as linear and nonlinear systems, continuous anddiscrete systems, certain and uncertain system system. This control method is simple,good robustness and has high reliability. Therefore, it has been extensive attention fromnational scholars.Inverted pendulum is a typical object of control. It unifies in together the robottechnology intelligent control and computer control organic, and it is an absolutely notstability, high order time, multivariable and strong coupling nonlinear system as well. Thatis why the dissertation chooses double inverted pendulum system as the control object,and the sliding mode variable structure as control method. We can research the slidingmode variable structure theory through the observation of the control effect.This dissertation mainly studys the sliding mode variable structure control method.The sliding mode variable structure control will inevitably produce high-frequency jitter,so in control of the actual system is not ideal.To be effective eliminate chattering, firstly,the dissertation discusses that the exponential reaching law has been introduced in thesliding mode variable structure method to eliminate chattering. Inverted pendulumsimulation experiments show that the chattering is weaker, but still exists. And then, inview of the above questions, the dissertation uses quasi-sliding mode control method tocontrol the inverted pendulum system simulation. The simulation results show that thechattering has been significantly reduced, and basically obtains the control requirements.However, its robustness is not strong. Finally, fuzzy control adjustment of the reachinglaw control method has been used. This is a combination of a fuzzy algorithm with slidingmode variable structure control method. Fuzzy control real-time adjustments the reachinglaw, that can overcome the inherent chattering in the sliding mode control. Invertedpendulum simulation experiments show that compared with the reaching law controlmethod and the quasi-sliding mode control method, sliding mode control with fuzzyreaching law can effectively eliminate chattering, and has a good dynamic performanceand robustness.