基于GA和H_∞环路成形的倒立摆控制  

Control approach based on GA and H_∞ loop shaping for inverted pendulum

作　　者：刘玉燕[1] 周世梁[1] 曾德良[1] 张丽娟[1] 

机构地区：[1]华北电力大学控制科学与工程学院,河北保定071003

出　　处：《华北电力大学学报（自然科学版）》2005年第3期28-31,共4页Journal of North China Electric Power University：Natural Science Edition

摘　　要：提出了基于遗传算法(GA)和H∞环路成形理论混合优化的倒立摆控制方法。该方法采用环路成形技术设计倒立摆控制器,对权函数采用遗传算法进行优化。从而避免了凭经验试凑权函数的盲目性,使控制器的设计更系统化,且简单易行。仿真结果表明了该方法的有效性。A mixed optimization algorithm is proposed for an inverted pendulum based on genetic algorithm (GA) and H∞ loop shaping theory . The controller of inverted pendulum is designed by using the loop shaping technique. GA is adopted to optimize the weighing functions. It a voids selecting weighing functions by a trial-error method based on the designer's experience. This method makes the design of controller more systematic and easier. Simulation shows the effectiveness of this algorithm.

关 键 词：环路成形 倒立摆控制 遗传算法(GA) 控制方法 混合优化 成形理论 技术设计 仿真结果 控制器 权函数 盲目性 系统化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP301.6[自动化与计算机技术—控制科学与工程]