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| 基于混沌搜索的三级倒立摆LQ控制器设计 | |
| 引用本文： | 姚荣斌,李生权,张绍德. 基于混沌搜索的三级倒立摆LQ控制器设计[J]. 航天控制, 2009, 27(2) |
| 作者姓名： | 姚荣斌 李生权 张绍德 |
| 作者单位： | 1. 连云港师范高等专科学校,连云港,222006 2. 南京航空航天大学智能材料与结构航空科技重点实验室,南京,210016 3. 安徽工业大学,安徽马鞍山,243002 |
| 基金项目： | 安徽省教育厅自然科学基金 |
| 摘 要： | 研究利用混沌优化的LQ控制方法对三级倒立摆系统进行闭环控制.首先将混沌变量引入LQ控制器的权矩阵参数域,并进行全局范围内直接寻优,当获得全局近似最优解后,再缩小寻优区间,在次优解附近继续寻优,得到全局最优权矩阵参数.仿真结果表明了该方法的有效性和具有良好的抗干扰能力. |
| 关 键 词： | 混沌 LQ控制器 三级倒立摆 参数最优化 性能指标 |
LQ Controller Design for Triple Inverted Pendulum Based on Chaos Search |
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| YAO Rongbin,LI Shengquan,ZHANG Shaode. LQ Controller Design for Triple Inverted Pendulum Based on Chaos Search[J]. Aerospace Control, 2009, 27(2) | |
| Authors: | YAO Rongbin LI Shengquan ZHANG Shaode |
| Affiliation: | YAO Rongbin1 LI Shengquan2 ZHANG Shaode31.Natural Science Department of Lianyungang Teachers College,Lianyungang 222006,China2.Aeronautical Science Key Lab for Smart Materials & Structures,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China3.Anhui University of Technology,Maanshan 243002,China |
| Abstract: | Linear quadratic optimum controller based on chaos optimization is employed to control triple inverted pendulum in this paper.The weighting matrix of LQ is optimized by chaos method.Firstly,chaos factors are applied to search for parameters of LQ and direct optimization within global range.Then the searching space of variables is continually reduced,based on the synthesis performance index when approximate global optimal solution are obtained.The simulation results of triple inverted pendulum show that the ... |
| Keywords: | Chaos LQ controller Triple inverted pendulum Optimal parameters Performance index |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |