A multi-mode decoupling control strategy for planar inverted pendulum system

摘要

The planar inverted pendulum system is a typical complex, multi-parameter and coupled system. This paper analyzes the physical structure and properties of the whole system, as well as the dynamic features in X-O-Z and Y-O-Z plane separately. Then according to the control experience and the properties of the rod's deflection and the displacement of the cart, the phase plane of each controlled variable is divided into multiple characteristic regions, for each characteristic region there is a control mode, this is the proposed control strategy named multi-mode decoupling control. What's more, the fuzzy control theory is introduced to solve the discontinuous interference of the controlled variable. The experiment shows that the proposed control strategy is easy and effective. While comparing to the LQR, the proposed control method extends the steady range of the rod about 60 percent.