关键词: 平面二级倒立摆, 模糊逻辑系统, 李雅普诺夫稳定性理论

Abstract: In order to improve the ability to resist disturbance of inverted pendulum control system, and reduce the sensitivity to the unmodeled dynamics, etc., a design of the uncertain robust adaptive controller for planar double inverted pendulum is studied. The dynamic model of the inverted pendulum is broken down into two parts of the certainty and the uncertainty, using a nonlinear parametric fuzzy logic system to approximate the uncertain dynamic of the planar double inverted pendulum, and then a set of robust controller and adaptive laws are derived based on Lyapunov stability theory which makes the state errors of the planar double inverted pendulum asymptotic convergence. Theoretical analysis and simulation results show that the designed controller is effective. 

Key words: planar double inverted pendulum, fuzzy logic systems, Lyapunov stability theory