基于平面二级倒立摆的LQR和FUZZY控制效果的比较

摘要

After kinematic and dynamical analysis of planar double inverted pendulum,a dynamical model is developed by using Langrange equations.A LQR control er and a fuzzy control er are analyzed and designed in this paper.Both of two control ers are tested and compared by MATLAB/Simulink.Visual simulation proves that the advantages and disadvantages of the two control methods.%分析了平面二级倒立摆的动力学和运动学特征，利用拉格朗日方程建立了系统数学模型。在此基础上，设计了线性二次型LQR控制器和模糊控制器，利用MATLAB／Simulink软件工具对两种控制器进行了验证和比较，由可视化仿真验证了这两种控制器优缺点。