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首页> 外文期刊>International Journal of Modelling, Identification and Control >Parameter optimisation of human-simulated intelligent controller for a cart-double pendulum system
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Parameter optimisation of human-simulated intelligent controller for a cart-double pendulum system

机译：推车双摆系统的仿人智能控制器参数优化

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摘要

Using a hierarchical and multi-mode control structure, a human-simulated intelligent controller (HSIC) successfully realises the swing-up and stabilisation control for a cart-double pendulum system. In order to effectively optimise several parameters in control laws and advance the further application space of HSIC, a hybrid simplex-genetic algorithm (HSGA) is proposed in this paper. By analysing the procedure of swing-up and stabilisation control, the paper discusses how we determine the solution space of parameters and select the fitness function suited to this optimisation problem. The two different strategies, which are HSGA strategy and manual adjustment method, are performed the simulation experiments, respectively. The simulation results show that it has the better response of HSIC obtained by the proposed HSGA strategy. So it is proved that the proposed HSGA is effective to implement parameter optimisation of HSIC.
机译：人体模拟智能控制器（HSIC）使用分层和多模式控制结构，成功实现了手推车双摆系统的摆动和稳定控制。为了有效地优化控制律中的几个参数并进一步扩展HSIC的应用空间，提出了一种混合单纯形遗传算法（HSGA）。通过分析摆动和稳定控制的过程，本文讨论了如何确定参数的解空间并选择适合此优化问题的适应度函数。仿真实验分别进行了HSGA策略和手动调整方法这两种不同的策略。仿真结果表明，该算法具有较好的HSIC响应能力。因此，证明了所提出的HSGA对于实现HSIC的参数优化是有效的。

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