基于混沌优化的二级倒立摆最优控制实验

计算机科学 ›› 2010, Vol. 37 ›› Issue (8): 248-250.

基于混沌优化的二级倒立摆最优控制实验

姚荣斌，李生权

(南京大学近代声学教育部重点实验室南京210008),(飞行器结构力学与控制教育部重点实验室南京210016)

出版日期:2018-12-01 发布日期:2018-12-01
基金资助:
本文受国家自然基金重点基金((50830207)，国家自然基金面上项目(No. 50775101)，近代声学教育部重点实验室开放课题(No. 200902)资助。

Experiment of Double Inverted Pendulum Based on Chaos Optimal Control

YAO Rong-bin,LI Sheng-quan

Online:2018-12-01 Published:2018-12-01

摘要/Abstract

摘要： 为解决LQ控制多变量系统时权矩阵参数难以确定的问题，在引入一种与系统动态性能密切相关的性能指标基础上，提出了混沌全局粗搜索和局部细搜索相结合的优化LQ控制器，并且进行了二级倒立摆的实时控制。最后的实验证实了，该方法既是线性二次型泛函意义下的最优，又能解决具有快速、强非线性、绝对不稳定系统的控制问题。

关键词: 混沌，工Q控制，二级倒立摆，性能指标，实验

Abstract: A method of controlling double inverted pendulum was presented in this paper. Chaos optimisation linear quadratic controller based on the dynamic performance index was proposed, in order to solve the choice of weighting matrix problem in LQ control multi-variable. The controller designed by the approach can satisfy the performance index of linear quadratic. The real-time control curves of the double inverted pendulum show that this method not only own characteristics of ctuick speed, but also solve the problem of serious nonlinear and absolutely unstable.

Key words: Chaos,LQ control,Double inverted pendulum,Performance index,Experiment

姚荣斌，李生权. 基于混沌优化的二级倒立摆最优控制实验[J]. 计算机科学, 2010, 37(8): 248-250. https://doi.org/

YAO Rong-bin,LI Sheng-quan. Experiment of Double Inverted Pendulum Based on Chaos Optimal Control[J]. Computer Science, 2010, 37(8): 248-250. https://doi.org/

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