Fuzzy control of double inverted pendulum by using state varieties fusion function

摘要

The method is introduced to control the double inverted pendulum using the fuzzy controller in this paper. Model designed based on the linear state-space expression was obtained by approximating the nonlinear model for inverted pendulum, Dimensions of a fuzzy controller's input varieties are depressed by designing a fusion function which the upper pendulum's angle and angle velocity are chosen as principal components, and it can reduce the rules of fuzzy. This method can greatly simplify the designing process of fuzzy controller. Simulation and real time control experiment in the double inverted pendulum prove that this method has the effectively, fast speed, good stability and good robustness.