基于混沌优化的二级倒立摆最优控制实验  

Experiment of Double Inverted Pendulum Based on Chaos Optimal Control

作　　者：姚荣斌[1] 李生权[2] 

机构地区：[1]南京大学近代声学教育部重点实验室,南京210008 [2]飞行器结构力学与控制教育部重点实验室,南京210016

出　　处：《计算机科学》2010年第8期248-250,共3页Computer Science

基　　金：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

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。A method of controlling double inverted pendulum was presented in this paper. Chaos optimization 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 eontroller 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 quick speed,but also solve the problem of serious nonlinear and absolutely unstable.

关 键 词：混沌 LQ控制 二级倒立摆 性能指标 实验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]