Điều khiển hệ Pendubot sử dụng dạng toàn phương tuyến tính dựa trên logic mờ

Abstract

Pendubot is a model with control input smaller than the number of free levels and a high degree of nonlinearity, which is difficult to control. Since Pendubot does not have a very complicated mechanical structure, many researchers use it to test control algorithms in laboratories. In this paper, the authors use linear algorithms based on Fuzzy Linear Quadratic Regulator to solve the equilibrium problem at the TOP position of Pendubot model. The main idea of this method is to use fuzzy algorithms associated with genetic algorithms to select control parameters for the Linear Quadratic Regulator. Simulations on Matlab Simulink and experiments in TOP position yield linking 1 and 2 at 90 degrees and 0 degrees, respectively.