Design Of Controller On Triple Inverted Pendulum System Based On Fuzzy Control

Inverted pendulum system is a typical model of single-input and multi-outputs, multivariable nonlinearity, strong-coupling and absolutely instability naturally. In the control process, the inverted pendulum control system can effectively reflect the many issues, such as nonlinear problems, robustness issues, with the dynamic problems, stabilization and tracking problems, so inverted pendulum system can be used as a controlled system to verify the correctness of a theory and practical applications feasible.The paper mainly adopts fuzzy control and adaptive neural network fuzzy control method to design the controller of the inverted pendulum system. First, introduced the inverted pendulum system control rule and movement modal, on this basis, build its mathematical model. In the equilibrium point, linearization mathematical model to get linear model, then analyzes the stability of the system and controllability. Fuzzy control theory in the use of inverted pendulum system and stability control, often can appear explosion problem, so in this paper the concept of integration of functions is proposed, using this function can greatly simplify the complexity of the fuzzy controller. a kind of parallel fuzzy controllor is designed to enhance the control of the cart. In addition, it proposes a new intelligent control method, this control method is the optimal control, fuzzy control, neural network and adaptive method of fully integrate. Firstly, the optimal control of inverted pendulum system integrated multiple input variables, reducing the number of input variables; then using BP algorithm and the gradient descent method combined with the hybrid algorithm using the already obtained objective input and output data sets to modify the fuzzy controller shape of membership functions and control rules,so proposed adaptive neural network based fuzzy inference system to achieve the inverted pendulum system modeling and simulation. Simulation results show that this method for inverted pendulum control system has good robustness, its control effect is better than the general fuzzy controller.