THE STUDY ON A NEW INTELLIGENT CONTROL MODEL ICM-LG AND ITS APPLICATION TO THE INVERTED PENDULUM
An intelligent control model ICM-LG which inherits the advantages of linear quadratic regulator (LQR), human-imitating intelligent control theory and genetic algorithm is proposed in this paper. ICM-LG is independent of the accuracy of the controlled systems mathematical model, neednt analyze physical properties and control rules of system in detail, and avoids the pre-configuring control parameters and secondary manual regulation. By optimizing parameters with the unequal weights, the control process can reflect that the different control sub-targets have different priorities, and that the control demand can be focused on rapidity or stability differently. The stable control experiments for the inverted pendulum and the compares to LQR and the human-imitating intelligent control method show the validity and advantage of ICM-LG.
Linear quadratic regulator Human-imitating intelligent control Genetic algorithm ICM-LG The inverted pendulum
LI LIU
Department of Computer Science and Technology, North China Electric Power University, Baoding 071003,china
国际会议
2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)
昆明
英文
2424-2429
2008-07-12（万方平台首次上网日期，不代表论文的发表时间）