Research On Clouds-Model Control Of Planar Double Inverted Pendulum Systems Based On Data Fusion

With the features of nonlinearity, strong coupling, multivariate and natural unstable, inverted pendulum system reflects many control challenges in engineering, which makes it to be a typical experimental platform for control algorithm research.The mathematic model of double inverted pendulum system is built by using Lagrange method in this paper. In order to obtain the linear model of double inverted pendulum system, mathematical process is applied to the dynamic equilibrium point. Considering the difficulty of controller design process will enlarge as the system order increase, it’s necessary to adopt methods to decouple the state variables and reduce system order. On the basis of information fusion theory, state feedback matrix based on quadratic performance index optimal is chosen as fusion function, a satisfied fusion matrix K can be acquired through a series of optimizing experiments. Consequently, the control system with multiple inputs is simplified to a multivariable linear model by decoupling E and EC, which decrease the difficulty of controller design process.Grey control aims at the "small sample" and "poor information" uncertain system, it’s an effective method to process the impact of uncertainties. The valuable data are extracted from the known "partial" information of inverted pendulum system. Correct description of system behavior and effective monitor of evolution rule can be obtained by employing this method.Fuzzy control is based on fuzzy set, and Linguistic control rules are acquired according to system running behave and manual operation, which avoids complex mathematical analysis. Fuzzy control is used to fuzz the inputs [e, ec] of inverted pendulum system. By designing appropriate rule base, stability control for inverted pendulum system is realized.Clouds-Model is used to describe the uncertain model between a qualitative concept and its quantification in linguistic valves. According to the stochastic theory and fuzzy set theory, the qualitative interpretation of the inverted pendulum is presented in this paper. Research results show that Clouds-Model Control can reveal the relationship between fuzziness and randomness of inverted pendulum control system, and constitute a mapping between quantitative and qualitative.Finally, the above control algorithms are verified by simulation, the results show that all the control strategies adopted in this paper can make the inverted pendulum control system stable, and excellent dynamic performance and strong robustness can be achieved. The research in this paper offers some solutions to a kind of system with features of nonlinearity, uncertainty and strong coupling.