Controller Design of Flexible Double-Inverted Pendulum with Uncertainties Based on T-S Fuzzy Inference System
Abstract
Mathematical modeling of the flexible double-inverted pendulum with uncertain friction coefficient is presented by Lagrange function in this paper. Based on Takagi-Sugeno fuzzy inference and parallel distributed compensation (PDC) theory, the controller design approach is proposed. Based on the concept of effective maximum overlap-rules group, the stability condition of T-S fuzzy system for flexible double-inverted pendulum is relaxed to finding a local public positive definite matrix. As a result, stability conservativeness of T-S fuzzy system is decreased. According to the new relaxed stability condition, linear matrix inequalities are designed for solving the feedback gain of each subsystem, and the controller based on parallel distributed compensation is given. Simulation results show that the designed controller can effectively control the uncertain flexible double-inverted pendulum.
Keyword
Flexible double-inverted pendulum • Adaptive fuzzy control • T-S fuzzy systemsReferences
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