摘要
二轮小车倒立摆系统模型存在很大的误差和不确定性,针对其在保持摆杆稳定的同时在水平面上自由行走具有很高难度的问题,应用基于遗传算法寻优参数的拟人智能控制算法,解决了该系统的控制问题。首先根据拟人智能控制算法理论得到定性控制律,然后采用遗传算法优化各个控制参数,该方法既利用了拟人智能控制算法这一定性控制律的强鲁棒性的特点,又利用了遗传算法良好的全局收敛性。实验结果表明,该算法不仅具有良好的抗干扰能力,而且具有很强的鲁棒性。
The problem of balance of dual-wheel Cart-inverted pendulum system moving freely is discussed. It is impossible to get the accurate mathematical model of the system. Human-imitating intelligence control algorithm based on genetic algorithm is applied to solved the problem. The method not only takes the advantage of strong robustness property of human-imitating intelligence control algorithm, but also the globally convergent property of genetic algorithm. The experiment results show the effectiveness of the method.
出处
《控制工程》
CSCD
2006年第5期433-435,共3页
Control Engineering of China
关键词
二轮小车倒立摆
拟人智能控制
遗传算法
dual-wheel cart-inverted pendulum
human-imitating intelligence control
genetic algorithm
