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.
出处
《计算机科学》
CSCD
北大核心
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
关键词
混沌
LQ控制
二级倒立摆
性能指标
实验
Chaos, LQ control, Double inverted pendulum, Performance index, Experiment
