Optimization of Sliding Mode Controller for Double Inverted Pendulum Based on Genetic Algorithm

摘要：

The double inverted pendulum system is a less-driven, multi-parameter, highly nonlinear system. The sliding mode controller is designed to make the double pendulum stable at the upright equilibrium position. But, it is difficult to determine the sliding surface in design, which is the key to the performance of the control system. The improved genetic strategy is applied to search the optimal sliding surface and other important parameters. The improved genetic strategy effectively improves the ability of the global convergence and local search capabilities, enhancing the diversity of the population and avoiding the premature convergence. Simulation experiment shows that the sliding mode controller optimized by the improved genetic algorithm stabilizes the double inverted pendulum with satisfied performance.

关键词： Double Inverted Pendulum Sliding Mode Controller Sliding Surface Improved Genetic Algorithm

作者: Huang wei Qi Qian He Qiang Huang Qiaoli Zhao Yixin Xiao Lin

作者单位: College of Computer & Information Science,Southwest University No.2,Tiansheng Street Beibei,Chongqing 400715 China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 857-861

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）