The adaptive fuzzy tracking control for double inverted pendulums in the presence of unknown control directions
作者： Ning Li , Yaguang Li , Wei Xiang
DOI: 10.1109/IAI50351.2020.9262238
关键词:
摘要: In this paper, an adaptive fuzzy control scheme for two inverted pendulums mounted on carts with unknown directions is proposed. A kind of Nussbaum-type functions designed, which the effect multiple can be handled. Fuzzy are used to approximate terms and by combining laws backstepping procedure, constructed controller guarantee pendulum systems asymptotically stable all states in closed-loop bounded. Finally, numerical simulation results show that move toward stability.
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