{"title":"基于模型的模糊控制在自平衡两轮倒立摆中的应用","authors":"Wen-June Wang, Cheng-Hao Huang","doi":"10.1109/CCA.2009.5281126","DOIUrl":null,"url":null,"abstract":"This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.","PeriodicalId":294950,"journal":{"name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","volume":"372 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum\",\"authors\":\"Wen-June Wang, Cheng-Hao Huang\",\"doi\":\"10.1109/CCA.2009.5281126\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.\",\"PeriodicalId\":294950,\"journal\":{\"name\":\"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)\",\"volume\":\"372 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-07-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCA.2009.5281126\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2009.5281126","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum
This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.
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