In this work, a Fuzzy Linear Quadratic Regulator (FLQR) is developed for the anti-swing control problem of a Double Serial Link Rotary Pendulum (DSLRP) system. The main objective of this paper is to study the anti-swing FLQR controller and compare it with the classical LQR controller. A dynamic mechanical model of the DLRP was simulated numerically in the SimMechanics toolbox/MATLAB. This model can be defined mathematically as the single input and multiple output non-linear dynamic equations. To verify the performance of both anti-swing controllers, different time-domain control specifications are computed. Moreover, to show the controllers performance, simulation and experiments results are given and compared. According to the comparative results, the FLQR anti-swing controller produces better results than classical LQR in term of time-domain control specifications. Moreover, the controllers’ dynamic responses were compared according to robustness analysis in the presence of external force disturbance. The results obtained here indicate that the FLQR anti-swing controller product better performance than others in term of vibration suppression capability.

在这项工作中，针对双串行链路旋转摆（DSLRP）系统的防摆控制问题开发了模糊线性二次调节器（FLQR）。本文的主要目的是研究抗摆 FLQR 控制器，并将其与经典的 LQR 控制器进行比较。在 SimMechanics 工具箱/MATLAB 中对 DLRP 的动态力学模型进行了数值模拟。该模型可以在数学上定义为单输入和多输出非线性动态方程。为了验证两个防摆控制器的性能，计算了不同的时域控制规范。此外，为了展示控制器的性能，给出了仿真和实验结果并进行了比较。根据对比结果，就时域控制规范而言，FLQR 防摆控制器比经典 LQR 产生更好的结果。此外，根据鲁棒性分析，在存在外力干扰的情况下比较控制器的动态响应。这里获得的结果表明FLQR防摆控制器产品在振动抑制能力方面比其他产品具有更好的性能。