Tao Chin Wang, Taur Jinshiuh, Chang J H, Su Shun-Feng
Department of Electrical Engineering, National I-Lan University, I-Lan 260, Taiwan.
IEEE Trans Syst Man Cybern B Cybern. 2010 Feb;40(1):241-52. doi: 10.1109/TSMCB.2009.2025964. Epub 2009 Aug 4.
In this paper, an adaptive fuzzy switched swing-up and sliding controller (AFSSSC) is proposed for the swing-up and position controls of a double-pendulum-and-cart system. The proposed AFSSSC consists of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), and an adaptive hybrid fuzzy sliding controller (HFSC). To simplify the design of the adaptive HFSC, the double-pendulum-and-cart system is reformulated as a double-pendulum and a cart subsystem with matched time-varying uncertainties. In addition, an adaptive mechanism is provided to learn the parameters of the output fuzzy sets for the adaptive HFSC. The FSC is designed to smoothly switch between the adaptive FSUC and the adaptive HFSC. Moreover, the sliding mode and the stability of the fuzzy sliding control systems are guaranteed. Simulation results are included to illustrate the effectiveness of the proposed AFSSSC.
本文提出了一种自适应模糊切换摆起与滑模控制器（AFSSSC），用于双摆-小车系统的摆起和位置控制。所提出的AFSSSC由一个模糊切换控制器（FSC）、一个自适应模糊摆起控制器（FSUC）和一个自适应混合模糊滑模控制器（HFSC）组成。为简化自适应HFSC的设计，将双摆-小车系统重新表述为一个具有匹配时变不确定性的双摆和一个小车子系统。此外，还提供了一种自适应机制来学习自适应HFSC输出模糊集的参数。FSC设计用于在自适应FSUC和自适应HFSC之间进行平滑切换。而且，保证了模糊滑模控制系统的滑模和稳定性。文中包含仿真结果以说明所提出的AFSSSC的有效性。
