Design of Fuzzy Control System with Optimal Guaranteed Cost for Planar Inverted Pendulum

被引：0

作者：

Miao Zhihong ^{[1
]}

Wang Jiayin ^{[2
]}

Li Zhihui ^{[1
]}

机构：

[1] Chinese Peoples Armed Police Force Acad, Dept Fire Protect Engn, Langfang 065000, Hebei, Peoples R China

[2] Beijing Normal Univ, Dept Math, Key Lab Math & Complex Syst, Minist Educ, Beijing, Peoples R China

来源：

FUZZY INFORMATION AND ENGINEERING 2010, VOL 1 | 2010年 / 78卷

关键词：

Guaranteed cost control; T-S fuzzy model; planar inverted pendulum; linear matrix inequalities; STABILIZATION;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

For the problem of control a planar inverted pendulum system (PIP) with non-uniform density pendulum, a design method of optimal guaranteed cost fuzzy control is developed via the parallel distributed compensation(PDC) approach. Firstly, by using the Lagrange equation, the mathematical model of the planar inverted pendulum is derived. Then, a sufficient condition for the existence of guaranteed cost fuzzy controller is presented with taking into account a given quadratic performance index, and a deviation amplitude of the center-of-mass of the rod. Finally, simulation results show the effectiveness of the proposed design method.

引用

页码：169 / +

页数：3