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控制理论与应用 2004
Fuzzy weighted hybrid control for inverted pendulum
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Abstract:
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.
