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

摘要

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.