DocumentCode
2338481
Title
LQR-Fuzzy Control for Double Inverted Pendulum
Author
Luhao, Wang ; Zhanshi, Sheng
Author_Institution
Jiangsu Univ., Zhenjiang, China
Volume
1
fYear
2010
fDate
18-20 Dec. 2010
Firstpage
900
Lastpage
903
Abstract
According to the Lagrange equation, the mathematical model for the double inverted pendulum is first presented. For the fuzzy controller, the dimension of input varieties of fuzzy controller is depressed by designing a fusion function using optimization control theory, and it can reduce the rules of fuzzy sharply, `rule explosion´ problem is solved. The result shows that the LQR-Fuzzy logic controller not only has quite good stability, but also be able to make the cart of the pendulum moving to the designed in advance place along the orbit.
Keywords
fuzzy control; linear quadratic control; nonlinear control systems; optimisation; pendulums; robust control; LQR fuzzy logic controller; Lagrange equation; double inverted pendulum; fusion function; mathematical model; optimization control theory; rule explosion problem; LQR; fusion function; fuzzy control; inverted pendulum;
fLanguage
English
Publisher
ieee
Conference_Titel
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location
ChangSha
Print_ISBN
978-0-7695-4286-7
Type
conf
DOI
10.1109/ICDMA.2010.170
Filename
5701302
Link To Document