Dual Regulation Controls of an Inverted Pendulum System Based on a Fuzzy Robust Smoothing Control Scheme

一個模糊正規化強健性平滑控制器，用來實現倒單擺系統偏角及位移之雙調節控制在此論文中被提出來。欲操控一個對於偏角敏感且與位移相互耦合之倒單擺系統使其具有強健且平滑的響應，或是對於大角度的偏角控制也能達到最少的平衡點擺動次數及最終位移量達零穩態誤差是極具挑戰性的。滑動模式控制方法是一種強健性控制的機制，可以迫使受控體在具有外來或系統干擾情況下仍能有符合規格要求的性能表現。然而，其既有的抖振問題，若將其實際應用在桿狀的控制系統，如機械臂等，這缺點將被加以放大且控制結果將難以接受。模糊正規化強健性平滑控制方法乃透過正規化轉換及模糊模式化程序將專家認知之滑動控制行為加以建構出來。此具有非線性且連續的近似函數將可以消除抖振現象且不會失去滑動模式控制方法原有之強健性特性。本論文將以倒單擺系統偏角及位移雙調節控制的平滑強健模擬結果來進一步的說明此方法的優異性能。

關鍵字

模糊；正規化；強健性；平滑控制；倒單擺系統

並列摘要

The dual regulation controls, angle and position, of an inverted pendulum balancing system based on a fuzzy normalized robust smoothing control scheme is applied in this paper. It is a challenge to control an angle error sensitive and position-coupled system, an inverted pendulum system, having robust smoothing responses with the fewest hitting times across balance point due to large angle offset, and keeping zero position steady state error. Sliding mode control schemes have robust control mechanisms often used to force the plant to perform under desired specifications, even with external or system disturbance. However, the effect of its inherent chattering problem will be amplified and hard to be accepted for practical applications, especially for the kind of bar-type systems, such as robot arms. A fuzzy normalized robust smoothing control scheme, constructed by the description of intuitive sliding mode control behavior through the procedure of normalized transformation and expert’s knowledge construction, can achieve nonlinear continuous approximation and alleviate chatter without sacrificing the robustness of the sliding mode scheme. For further validation, the simulations to control an inverted pendulum balancing system to follow preset specifications smoothly are performed.

並列關鍵字

Fuzzy ； normalized ； robust ； smoothing control ； inverted pendulum system

國際替代計量

Dual Regulation Controls of an Inverted Pendulum System Based on a Fuzzy Robust Smoothing Control Scheme

全文下載

主題瀏覽