摘要
以往对非线性系统主要是采用线性化的方法进行控制,提出了一种基于专家系统及变步长预测控制的实时非线性系统控制方法。用变步长一步预测避开复杂的非线性推导,结合专家系统对控制参数进行修正,从而实现对复杂非线性系统的实时控制。利用这种方法,实现了二级倒立摆的摆起及稳定控制。
Conventionally, control of nonlinear systems is mainly through linearization. In this paper we propose a new method based on expert system and predictive control, to realize real time control of nonlinear systems. The new concept of variable length one-step prediction is proposed to avoid the complex calculation. Further, an expert system is used to determine control parameters for the index function of the predictive control. We apply this method in swing up control of double inverted pendulum.
出处
《系统仿真学报》
CAS
CSCD
2003年第7期1043-1045,1059,共4页
Journal of System Simulation
基金
中科院百人计划项目
关键词
非线性系统
倒立摆
预测控制
二级倒立摆
nonlinear system
predictive control
optimal control
double inverted pendulum
