基于模糊方法的时变旋转倒立摆控制

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摘要翻译：
本文采用间接自适应模糊控制器设计方法，对具有时变参数的非线性旋转倒立摆进行控制。选择这种类型的控制器是因为这种特殊的系统性能对不可避免的未知模型变化高度敏感。为此，本文首先采用反馈线性化方法设计了常规控制器，并将其应用于该系统。这里的反馈线性化方法用于两个目的；通过比较自适应模糊控制器和反馈线性化控制器的结果，获得必要的系统动力学近似，并评估所提出的自适应模糊控制器的性能。提出了一种抗参数变化的间接自适应模糊控制器。第一阶段给出了自适应控制器的总体结构。在第二阶段，借助于两个模糊系统对其参数进行调节。利用Lyapunov稳定性定理调节系统参数，使闭环系统稳定，跟踪误差为零。最后，将所提出的方法与常规方法的结果进行了比较。结果表明，在存在参数变化的情况下，自适应模糊控制器比经典控制器具有更好的控制效果。
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英文标题：
《Time-varying Rotational Inverted Pendulum Control using Fuzzy Approach》
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作者：
R. Eini, S. Abdelwahed
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最新提交年份：
2018
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分类信息：

一级分类：Electrical Engineering and Systems Science        电气工程与系统科学
二级分类：Signal Processing        信号处理
分类描述：Theory, algorithms, performance analysis and applications of signal and data analysis, including physical modeling, processing, detection and parameter estimation, learning, mining, retrieval, and information extraction. The term "signal" includes speech, audio, sonar, radar, geophysical, physiological, (bio-) medical, image, video, and multimodal natural and man-made signals, including communication signals and data. Topics of interest include: statistical signal processing, spectral estimation and system identification; filter design, adaptive filtering / stochastic learning; (compressive) sampling, sensing, and transform-domain methods including fast algorithms; signal processing for machine learning and machine learning for signal processing applications; in-network and graph signal processing; convex and nonconvex optimization methods for signal processing applications; radar, sonar, and sensor array beamforming and direction finding; communications signal processing; low power, multi-core and system-on-chip signal processing; sensing, communication, analysis and optimization for cyber-physical systems such as power grids and the Internet of Things.
信号和数据分析的理论、算法、性能分析和应用，包括物理建模、处理、检测和参数估计、学习、挖掘、检索和信息提取。“信号”一词包括语音、音频、声纳、雷达、地球物理、生理、（生物）医学、图像、视频和多模态自然和人为信号，包括通信信号和数据。感兴趣的主题包括：统计信号处理、谱估计和系统辨识；滤波器设计；自适应滤波/随机学习；（压缩）采样、传感和变换域方法，包括快速算法；用于机器学习的信号处理和用于信号处理应用的机器学习；网络与图形信号处理；信号处理中的凸和非凸优化方法；雷达、声纳和传感器阵列波束形成和测向；通信信号处理；低功耗、多核、片上系统信号处理；信息物理系统的传感、通信、分析和优化，如电网和物联网。
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英文摘要：
  In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly sensitive to unavoidable unknown model changes. So, a conventional controller is firstly designed through feedback linearization method, and applied to the system. Feedback linearization method here is used for two purposes; to attain an approximation of necessary system dynamics and to assess the performance of the proposed adaptive fuzzy controller by comparing the results of both adaptive fuzzy and feedback linearization controllers. An indirect adaptive fuzzy controller, resistant to parameter variations is then proposed. The general structure of the adaptive controller is specified in the first stage. In the second stage, its parameters are regulated with the aid of two fuzzy systems. Lyapunov stability theorem is used to regulate the system parameters such that the closed loop system is stabilized and zero tracking error is attained. Finally, the results of the proposed and the conventional approaches are compared. Results showed that the adaptive fuzzy controller performed more efficiently than the classical controller, with existing parameters variations.
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PDF链接：
https://arxiv.org/pdf/1806.01788

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关键词：Applications Optimization Conventional performance Application 控制器 进行 常规 conventional 系统