Design of Optimal Cost Fuzzy Controller for Spatial Double Inverted Pendulum System
For a spatial double inverted pendulum system, a design method of optimal cost fuzzy controller is developed via the parallel distributed compensation( PDC) approach. Firstly, by using the Lagrange equation, the mathematical model of the spatial double inverted pendulum is derived. Then, a sufficient condition for the existence of optimal cost fuzzy controller is presented with taking into account the ratio between the lengths of two pendulums, and it is formed in terms of linear matrix inequalities. Under a certain cost function, the best ratio between the lengths of two pendulums is solved by this method.
KeywordsT-S fuzzy model cost function spatial double inverted pendulum linear matrix inequalities
Unable to display preview. Download preview PDF.
- 6.Li, H.X., Miao, Z.H., Wang, J.Y.: Variable universe adaptive fuzzy control on the quadruple inverted pendulum. Science in China (Series E) 32(1), 65–75 (2002)Google Scholar
- 9.Yuan, P.G., Zhang, G.Y., Qin, Z.Q., Li, Z.X.: Analysis and controller design of plane double inverted pendulum. Control Engineering of China 11(6), 517–520 (2004)Google Scholar
- 12.Zheng, K., Xu, J.M., Yu, L.: Takiga-Sugeno model-based optimal guarenteed cost fuzzy control for inverted pendulum. Control Theory & Applications 21(5), 703–708 (2004)Google Scholar
- 13.Liu, Y.Z., Yang, H.X., Zhu, B.H.: Theoretical Mechanics. High Education Press (2001)Google Scholar