Research on Double Inverted Pendulum System Base on Hierarchical Fuzzy Sliding-mode Decoupling Control Method

DOI

10.2991/emim-17.2017.96How to use a DOI?

Keywords

Hierarchical Fuzzy sliding-mode control; Decoupling control; Double inverted pendulum Introduction

Abstract

Hierarchical fuzzy sliding-mode decoupling control method is adapted in this paper, and the nonlinear system of a double inverted pendulum is decoupled into several subsystems, an adaptive law based on the Lyapunov function is used to tune the coupling factor of the hierarchical sliding-mode controller, a favorable decoupling performance is achieved under the condition of the system guaranteed stability by simulation experiments. Simulations are performed and demonstrated the feasibility of the proposed design method, which has been more predominant than adopting conventional fuzzy sliding-mode decoupling control in decoupling performance.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yinyin Zhao
PY  - 2017/04
DA  - 2017/04
TI  - Research on Double Inverted Pendulum System Base on Hierarchical Fuzzy Sliding-mode Decoupling Control Method
BT  - Proceedings of the 7th International Conference on Education, Management, Information and Mechanical Engineering (EMIM 2017)
PB  - Atlantis Press
SP  - 472
EP  - 476
SN  - 2352-538X
UR  - https://doi.org/10.2991/emim-17.2017.96
DO  - 10.2991/emim-17.2017.96
ID  - Zhao2017/04
ER  -