Computer Engineering and Applications ›› 2006, Vol. 42 ›› Issue (30): 3-.

• 博士论坛 • Previous Articles     Next Articles

Comparison of Five Controllers for the Inverted Pendulum System


  1. 西北工业大学计算机学院
  • Received:2006-07-03 Revised:1900-01-01 Online:2006-10-21 Published:2006-10-21




  1. 西北工业大学计算机学院
  • 通讯作者: 刘丽 ninaer ninaer

Abstract: For the stable control problem of the inverted pendulum running along a horizontal and straight rail, the controllers which are LQR, LQY, human-imitating controller, fuzzy controller are designed, and an intelligent controller based on universal combination model is proposed. The experiments prove the validity of proposed intelligent controller, and it is found out that intelligent controllers have better stable control effect than the linear controllers.

摘要: 针对水平导轨直线型倒立摆的稳定控制问题,本文设计了线性二次型调节器LQR和LQY、拟人智能控制器和模糊控制器,提出了一种基于泛组合模型的智能控制器。用这五种控制器对系统进行控制,实验证明了所提出的智能控制模型的有效性。对各控制器控制效果的比较研究说明智能控制比线性控制更适合解决这类非线性控制问题。