%0 Journal Article
%T Fuzzy weighted hybrid control for inverted pendulum<br>基于模糊加权的倒立摆混合控制
%A ZHAO Wen-jie
%A ZHANG Li-juan
%A LIU Yan-quan
%A LIU Yu-yan
%A <br>赵文杰
%A 张丽娟
%A 刘延泉
%A 刘玉燕
%J 控制理论与应用
%D 2004
%I 
%X A fuzzy-weighted control method,which combines sliding mode control and linear state feedback,is proposed for inverted pendulum.Sliding mode control was used to regulate the pendulum angle to neighborhood of zero.In the neighborhood of zero,the linear model was obtained by approximating the nonlinear model of inverted pendulum and the linear state feedback controller based on pole assignment was designed to stabilize the state of the system.A weight-sum of the controller outputs was then used to supply the control action to inverted pendulum.The results of simulation demonstrated the effectiveness of the method.
%K sliding mode control
%K pole assignment
%K linear state feedback
%K hybrid control<br>滑模控制
%K 极点配置
%K 线性状态反馈
%K 混合控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=2FAE3B4CE334CCC4&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=94C357A881DFC066&sid=128B7AEF80A42C95&eid=15F713CDE16A589C&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=1&reference_num=5