Fuzzy control method based on event trigger strategy for non-linear inverted pendulum system

A technology of fuzzy control and event triggering, which is applied in the control field of nonlinear inverted pendulum system to achieve good stability, reduce communication burden, and save bandwidth resources

Inactive Publication Date: 2018-04-17
CHONGQING UNIV
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Problems solved by technology

Moreover, the application of event-triggered fuzzy control to the inverted pendulum system is almost non-existent.

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  • Fuzzy control method based on event trigger strategy for non-linear inverted pendulum system

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0054] The fuzzy control method based on the event-triggered strategy of the nonlinear inverted pendulum system in this embodiment includes the following steps:

[0055] The fuzzy control method based on event-triggered strategy of nonlinear inverted pendulum system is characterized in that: comprising the following steps:

[0056] Step 1, establish the dynamic mathematical model of the inverted pendulum system with delay resonator as:

[0057]

[0058]

[0059] The inverted pendulum system includes a trolley, a swing link hinged on the top of the trolley, and a delay resonator that exerts resistance to the movement of the trolley: in the above formula, M is the mass of the trolley, m is the mass of the swing link, l is the length of the swing link, and g is Gravity acceleration, θ is the swing angle of the pendulum from the upright position, y i...

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Abstract

The invention discloses a fuzzy control method based on an event trigger strategy for a non-linear inverted pendulum system. The method comprises the following steps: 1, establishing a dynamic mathematical model of an inverted pendulum system with a delay resonator; 2, setting an event trigger strategy of the inverted pendulum system, and constructing a fuzzy controller for the inverted pendulum system with the delay resonator; and 3, transmitting a control instruction to an actuator of the inverted pendulum system by virtue of an event trigger mechanism by a fuzzy controller u(k), thereby realizing the objective of control. The fuzzy control method disclosed by the invention has complete robustness on changes of system parameters and external interference, buffeting is eliminated, and thesystem has excellent stability. Moreover, due to the use of the event trigger mechanism, the inverted pendulum system effectively suppresses time-varying delay characteristics, communication burdensare effectively alleviated, and bandwidth resources are saved.

Description

technical field [0001] The invention relates to the technical field of nonlinear system control, in particular to a control method of a nonlinear inverted pendulum system. Background technique [0002] The inverted pendulum system is a typical nonlinear, multivariable, unstable dynamic system. It is difficult to control its stability using general linear control theory. Although various classical linear control theories and advanced control theory methods have been proposed, due to the internal multi-state characteristics of the inverted pendulum system and the uncertainty of model parameters in the system (time-varying time-delay situation) and the constantly changing operating environment, it may no longer be appropriate to design a fixed controller to solve the stability problem of the inverted pendulum system. Therefore, advanced control theory (including fuzzy control, neural network, predictive control and adaptive control, etc.) has gradually become a research hotspo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/0275G05B13/042
Inventor 苏晓杰夏凤琴刘鑫鑫杨荣妮
Owner CHONGQING UNIV
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