The Control Parameters Optimization of Human-Simulated Intelligent Controller for Swing-Up and Stabilization of Cart-Double Pendulum
Swing-up and stabilization control of cart-double pendulum, using a hierarchical and multi-mode control structure based on Human Simulated Intelligent Control (HSIC) theory, has been successfully realized. But during this control procedure, there are many control parameters need to be determined. In order to effectively solve this problem, so a hybrid simplex-genetic algorithm (HSGA) is adopted. Through analyzed to the control procedure of swing-up and stabilization, they are discussed in detail about how to determine the solution space of control parameters and select the fitness function suited to this optimization problem. Besides, some improved mechanisms of HSGA are also described. In this paper, the two different optimization strategies are compared and tested in the simulation experiments. The results show that the HSGA is better than manual adjustment method in solving the optimization problem of control parameters. So it is proved that the proposed HSGA is feasible and effective to solve the control parameter optimization of human-simulated intelligent controller.
Cart-double pendulum human-simulated intelligent controller genetic algorithm (GA) orthogonal design and simplez method
Guiqiang Chen Linjian Tang Zushu Li
Institute of Command Automation Chongqing Communication College Chongqing, China Institute of Intelligent Automation Chongqing University Chongqing, China
国际会议
2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)
重庆
英文
1-6
2008-12-11（万方平台首次上网日期，不代表论文的发表时间）