Evolutionary linear control strategies of triple inverted pendulums and simulation studies

Research significance, development in theories and applications and several classical intelligent control strategies for inverted pendulum(s) are briefly described. Evolutionary linear control strategy is presented to triple inverted pendulums, with the characteristics of complex non-linearity, stro...

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Bibliographic Details
Main Authors: Wang Pan, Xu Chengzhi, Fan Zhun
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Automatic control
Computational modeling
Control systems
Genetic algorithms
Intelligent control
Nonlinear control systems
Optimal control
Robust control
Robustness
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Summary:Research significance, development in theories and applications and several classical intelligent control strategies for inverted pendulum(s) are briefly described. Evolutionary linear control strategy is presented to triple inverted pendulums, with the characteristics of complex non-linearity, strong duality and quick time-variance. Under the guidance of comprehensive performance function weighted ITAE, this strategy searches for the satisfactory parameters by adaptive genetic algorithm the authors presented where the crossover and mutation probability are changed with the fitness function value nonlinearly. Tracking simulations, anti-disturbance and robust experiments are given. The simulation results illustrate that this strategy has ideal dynamic, steady performance, anti-disturbance and robustness.
DOI:10.1109/WCICA.2004.1342017