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Li-Xin Wang
where & = (k,,...,k~)~E R” is such that all roots of the 111. APPLICATION
TO INVERTED PENDULUM BALANCING
polynomial S” + k1 sn-’ + +
. . . k , are in the left-half complex In this section, we apply a fuzzy controller with the supervisory
plane. Using this U * , we can rewrite (4) as controller to the inverted pendulum balancing problem. The control
34”) = -&Tg + g [ U f - + I*U,].
U*
goal is to balance the inverted pendulum and, at the same time,
guarantee that the state is bounded within a fixed interval. Let z1 = 6
Define be the.angle of the pendulum with respect to the vertical line and
1 0 0 .’’ 22 = 6, the dynamic equations of the inverted pendulum system are
- 0
0 0 1 0 ... 21 =22 (15)
A, = . . . ... ... ... .. . . .. ...
0 0 0 0 ... 0 1
--kn -knpl ... . .. ... ...
Now we design the supervisory controller u s such that 121 5 M,. IF 21 is positive and 2 2 is positive,
Define the Lyapunov function candidate THEN U is negative big (17)
v = r2 4T p 4 (10) IF z1 is positive and x2 is negative,
THEN U is zero (18)
where P is a symmetric positive definite matrix satisfying the
IF 2 1 is negative and 2 2 is positive,
Lyapunov equation
THEN U is zero (19)
A T P + P A , = -Q (1 1) IF 2 1 is negative and x2 is negative,
where Q > 0 is specified by the designer. Because A, is stable, such THEN U is positive big (20)
P always exists [2]. Using (9) and (11) and considering the case
where the fuzzy sets “positive,” “negative,” “negative big,” “zero,”
141 2 M,, we have
and “positive big” are characterized by the following membership
+
V = - $gTQg gT Pb,[uf - U* + u.] functions, respectively
I 'I
6 7 8 9 1 0
Fig. 1. The closed-loop system state ~ ( tfor) the five initial conditions Fig. 3. The same as Fig. 2 except that a white Gaussian noise with variance
using only the fuzzy controller. 3 was added to the control U .
IV. CONCLUSIONS
In this note, we developed a supervisory controller for fuzzy control
systems which can guarantee that the state of the closed-loop system
is uniformly bounded. The advantage of this approach is that we do
I5 not need to change the design of the fuzzy controller to guarantee
stability; this permits us to design high-performance fuzzy controller.
The disadvantage of this approach is that we require to know the
bounds of the nonlinear functions in the system and, if the bounds
are too loose, we may require heavy control activity. We applied
the approach to balance the inverted pendulum and showed how the
supervisory controller forced the state to be bounded and how the
: l 0 1 2 3 4 5 6 7 8 9 10
fuzzy controller balanced the inverted pendulum.
Fig. 2. The closed-loop system state z l ( t ) for the five initial conditions
using the fuzzy controller with the supervisory controller.
REFERENCES