Abstract
The inverted pendulum system has been researched as an experiment target to verify effectiveness of nonlinear control theory. The controller of inverted pendulum has many control parameters. In general , the control parameters are selected by the trial and error approach. However, it is not efficient because the approach is simple sensation. Recently, control parameters are selected by general Genetic Algorithm (GA) approach. However, it is difficult to implement the real system, because the robustness is not considered. In this paper, a method for selecting control parameters of cart-type inverted pendulum by using Genetic Algorithm with a Robust Solution Searching Scheme (GA/RS3) is proposed. The merit of the proposed method is the efficiency in choosing robust solution. Further, the effectiveness of the proposed method is verified by numerical simulation and experimental results.
| Original language | English |
|---|---|
| Title of host publication | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 |
| Pages | 568-573 |
| Number of pages | 6 |
| Publication status | Published - 2010 |
| Event | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 - Okayama, Japan Duration: Jul 17 2010 → Jul 19 2010 |
Other
| Other | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 |
|---|---|
| Country | Japan |
| City | Okayama |
| Period | 7/17/10 → 7/19/10 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Genetic algorithm with a robust solution searching scheme based controller parameters selection of a cart-type inverted pendulum. / Nakayama, Shinji; Deng, Mingcong; Bi, Shuhui; Yanou, Akira.
2010 International Conference on Modelling, Identification and Control, ICMIC 2010. 2010. p. 568-573 5553503.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Genetic algorithm with a robust solution searching scheme based controller parameters selection of a cart-type inverted pendulum
AU - Nakayama, Shinji
AU - Deng, Mingcong
AU - Bi, Shuhui
AU - Yanou, Akira
PY - 2010
Y1 - 2010
N2 - The inverted pendulum system has been researched as an experiment target to verify effectiveness of nonlinear control theory. The controller of inverted pendulum has many control parameters. In general , the control parameters are selected by the trial and error approach. However, it is not efficient because the approach is simple sensation. Recently, control parameters are selected by general Genetic Algorithm (GA) approach. However, it is difficult to implement the real system, because the robustness is not considered. In this paper, a method for selecting control parameters of cart-type inverted pendulum by using Genetic Algorithm with a Robust Solution Searching Scheme (GA/RS3) is proposed. The merit of the proposed method is the efficiency in choosing robust solution. Further, the effectiveness of the proposed method is verified by numerical simulation and experimental results.
AB - The inverted pendulum system has been researched as an experiment target to verify effectiveness of nonlinear control theory. The controller of inverted pendulum has many control parameters. In general , the control parameters are selected by the trial and error approach. However, it is not efficient because the approach is simple sensation. Recently, control parameters are selected by general Genetic Algorithm (GA) approach. However, it is difficult to implement the real system, because the robustness is not considered. In this paper, a method for selecting control parameters of cart-type inverted pendulum by using Genetic Algorithm with a Robust Solution Searching Scheme (GA/RS3) is proposed. The merit of the proposed method is the efficiency in choosing robust solution. Further, the effectiveness of the proposed method is verified by numerical simulation and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=77957834865&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77957834865&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77957834865
SN - 9780955529337
SP - 568
EP - 573
BT - 2010 International Conference on Modelling, Identification and Control, ICMIC 2010
ER -