【摘要】 阐述了二级倒立摆的一种新型模糊控制策略——分层模糊控制方法.该方法将二级倒立摆的多个状态变量分解为子系统,设计下层模糊控制器对其控制,上层模糊控制器负责整个系统的协调和管理,实现稳定控制.实验结果表明:分层模糊控制的模糊规则少、收敛速度快、控制效果好,具有较强的实用性.更多还原

【Abstract】 Hierarchical fuzzy control, which is a new method of controlling a double inverted pendulum, was presented. The double inverted pendulum system was divided into some subsystems. Fuzzy logic controllers were designed for each subsystem at the low level, and at the high level a fuzzy logic controller was built up to supervise the complete system. The experimental results show that the control scheme based on the hierarchical fuzzy controller is efficient and convergent quickly because of its advantage in less fuzzy rules.更多还原