遺伝アルゴリズムによる倒立振り子の非線形フィードバック安定化制御システムの最適設計法

Abstract

This paper describes the automatic design method of a nonlinear stabilizing control system of an inverted pendulum using the genetic algorithm. The nonlinear stabilizing control system presented in this paper is a hybrid control system which is constructed of a conventional linear quadratic optimal controller and a nonlinear compensation part. The nonlinear compensation part utilizes the angle and the angular velocity of the inverted pendulum to compensate the nonlinear characteristic of the inverted pendulum. A gene consists of the coefficients of the nonlinear stabilizing control system, and a genetic algorithm with three operators ; reproduction, crossover and mutation, is used to obtain near-optimal coefficients. From the numerical simulation results, it is clarified that the sum of the control error decreases with the increasing generation, and the optimum coefficients of the nonlinear stabilizing control system can be obtained. Therefore, the usefulness of the automatic design method is verified

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