Research On Fuzzy Control Algorithm Based On Inverted Pendulum System

Inverted pendulum is a typical multivariable non-linearity strong-coupling andnaturally unstable system. The paper is focused on the double inverted pendulum.In this paper, the historical development process and the current tendency of theresearch based on the inverted pendulum are discussed. The mathematical model of thedouble inverted pendulum with Lagrange equation is deduced and the observability andcontrollability of the system as well as the difficulty of controlling the system areanalysised. The paper mainly researched the modern control methods and intelligentcontrol methods of the pendulum system, design controllers with the LQR optimalcontrol method and fuzzy control theory.The specific content are the following:Firstly, the system controllers based on the LQR optimal control methods and thefuzzy control methods was developed,and reduced the input variable dimension of thefuzzy controller by designing a fusion function in order to solve the question of ruleexplosion.Then the membership function and the fuzzy rule of Mamdani fuzzycontroller are designed. Also, I simulate the whole system by using the MATLAB andthe SIMULINK, after that the advantages and disadvantages of the two control methodshas been analyzed.So the conclusion indicates that the intelligent control strategies cannot only achieve the controlling demand of the non-linear system, but also melioratesignificantly the control index of the system, as a result, the whole system’s dynamiccharacteristic has been improved greatly. Secondly the the scale factor and thequantification facors are changed by the threshold function with the result of promotingthe accuracy of fuzzy controller. Thirdly the variable universe fuzzy controllor isdesigned with the universe stretch facors put forward in two forms and better controleffect of simulation is archieved. Fourthly a kind of parallel fuzzy controllor is designedto enhance the control of the cart. Fifthly a kind of new and more simple fuzzycontrollor is designed and archieved the control effect in accord with the mamdanifuzzy controllor.At last, the meaning, the purpose and the main content of the paper hasbeen summarized in the end of the thesis.