Fuzzy Sliding Mode Control of Double Inverted Pendulum Based on Linear Adaptive QPSO Tuning

doi:10.16182/j.issn1004731x.joss.201711042

Abstract

Abstract: To solve the problem of balancing control of linear double inverted pendulum, fuzzy sliding mode control method based on linear adaptive QPSO tuning is presented. According to the coupling property of the linear double inverted pendulum system, decoupling is applied twice and fuzzy sliding mode balancing controller is designed. The parameters of fuzzy sliding mode controller are determined by the linear adaptive quantum particle swarm optimization algorithm (LAQPSO). Linear double inverted pendulum balancing control simulation results show that the proposed method can effectively reduce the chattering phenomenon existing in the traditional sliding mode controller and improve the accuracy and rapidity of balancing control of linear double inverted pendulum system. Physical experiment results show that the proposed method is reasonable and effective.

Key words: linear double inverted pendulum, balancing control, LAQPSO, fuzzy sliding mode control

CLC Number:

TP24

Xin Jing, Han Xiangshuai, Liang Yanming, Yan Cuicui. Fuzzy Sliding Mode Control of Double Inverted Pendulum Based on Linear Adaptive QPSO Tuning[J]. Journal of System Simulation, 2017, 29(11): 2909-2917.

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