Abstract
Double Inverted pendulum as an important object of study on robotics and aviation field, is also a major platform for teaching and scientific research.Usually double Inverted pendulum modeling is usually will be linearized processing system, ignoring the effect of the angle of system. But the realization of double inverted pendulum is a nonlinear system, the angle affect the stability control. From the actual situation of double Inverted pendulum motion, double Inverted pendulum system of the input space is divided into 9 sub-space, by T-S fuzzy and feedback gain matrix to select the corresponding state equation, making the system more close to its dynamic performance. The multi mode adaptive control and T-S fuzzy method of combining the successful implementation of double inverted pendulum system simulation and real-time control.The number of rules they use far less than Mamdani fuzzy, but also successfully resolved the fuzzy control algorithm due to the presence of multiple variables and the resulting "rule explosion problem".
Published Version
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