Genetic algorithm with a robust solution searching scheme based controller parameters selection of a cart-type inverted pendulum

Shinji Nakayama, Mingcong Deng, Shuhui Bi, Akira Yanou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publication2010 International Conference on Modelling, Identification and Control, ICMIC 2010
Pages568-573
Number of pages6
Publication statusPublished - Oct 18 2010
Event2010 International Conference on Modelling, Identification and Control, ICMIC 2010 - Okayama, Japan
Duration: Jul 17 2010Jul 19 2010

Publication series

Name2010 International Conference on Modelling, Identification and Control, ICMIC 2010

Other

Other2010 International Conference on Modelling, Identification and Control, ICMIC 2010
CountryJapan
CityOkayama
Period7/17/107/19/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Nakayama, S., Deng, M., Bi, S., & Yanou, A. (2010). Genetic algorithm with a robust solution searching scheme based controller parameters selection of a cart-type inverted pendulum. In 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 (pp. 568-573). [5553503] (2010 International Conference on Modelling, Identification and Control, ICMIC 2010).