基于混合遗传算法的力矩受限圆轨二级倒立摆摆起控制

Swing-up control under limited torque of rotary double inverted pendulum based on hybrid genetic algorithms

中文关键词  圆轨二级倒立摆  摆起控制  力矩受限  混合遗传算法

英文关键词  rotary double inverted pendulum  swing-up control  limited torque  hybrid genetic algorithm

中文摘要

      为了实现力矩受限时圆轨二级倒立摆非线性系统的摆起控制,提出了一种新的开环优化控制策略.该策略通过在规定的时间内向系统施加一前馈控制序列,使上、下摆杆从自然悬垂位置摆到倒立点位置并使速度为零.为了获得最优摆起控制序列,采用混合遗传算法进行优化计算,通过编码操作解决控制力矩受限问题.仿真实验证明,该策略是有效和可行的,并为其他非线性多变量系统的控制提供了有效方法.

英文摘要

      To realize the swing-up control of nonlinear double inverted rotary pendulum under limited torque,an open-loop control strategy is presented.Within the specified time limit,the strategy determines and implements an optimal feed-forward control sequence to the system,swings up the double inverted pendulum from its hanging position,and achieves zero speed state at the upright position.The hybrid genetic algorithms are employed to get the better optimization control law,and the problem of limited torque is solved by individual representation operation.Numerical simulations confirm the strategy's validity and feasibility.This strategy provides an effective solution to other nonlinear multivariable control systems as well.