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Double Inverted Pendulum Based On Particle Swarm Optimization Control Research

Posted on:2013-01-09Degree:MasterType:Thesis
Country:ChinaCandidate:X M WuFull Text:PDF
GTID:2248330371992283Subject:Operational Research and Cybernetics
Abstract/Summary:PDF Full Text Request
The inverted pendulum system is a multi-variable, strong coupling, natural instability and higher ordernonlinear system. On the one hand, the inverted pendulum system control can reflect classic problems ofcontrol theory, such as the robustness, stabilization and tracking problem. On the other hand, it has a hightheoretical guiding significance for the military industry, aerospace equipment, robotics and general industrialprocesses. Moreover, it sets up a bridge between control theory and practical application. Inverted pendulumsystem is the typical experimental setup for testing various control algorithms and control theory, so it makesan important contribution to the effectiveness of the test controller design method.In this thesis, we have studied the linear double inverted pendulum system. By using the traditionalcontrol theory and the theory of intelligent control with particle swarm optimization (PSO), we haverespectively designed the LQR optimal controller and the fuzzy controller based on particle swarmoptimization for double inverted pendulum. Finally, the real-time control test is made for inverted pendulumphysical system. The detailed contents are as follows:1) Firstly, we introduce the research background and status quo for inverted pendulum system andestablish the mathematical mechanism of the double inverted pendulum model by using the Lagrange equation.Then based on the linear processing, we get the state space equation at the neighborhood of the equilibriumpoint and have qualitative analysis using the linear control theory. Finally, the natural instability of a straightline double inverted pendulum system is proved as well as the controllability and observe-ability near theequilibrium position.2) The basic principle of the LQR optimal control and PSO is described in this paper. By using theintelligent search, incremental optimization and fast convergence characteristics of the PSO, we can get theglobal optimal solution of Q and R and then design state feedback control K to achieve the double invertedpendulum controller design based on particle swarm optimization LQR. Simulation results have shown theeffectiveness of the design method.3) Based on the state feedback control K, we have designed information fusion function in order to reducethe dimension of the system input variables. Then the powerful optimization features of the PSO can beapplied to the selection of the scale factor and weighting factor. Therefore, a fuzzy controller is designed fordouble inverted pendulum based on particle swarm optimization and the effectiveness of the control method isverified by simulation. Finally, by simulating comparative analysis on the two controllers, results have shownthat the fuzzy controller based on particle swarm optimization has better stability and robustness than another.4) We have carried out the real-time control in MATLAB experiment platform for the two controllers. Theresults suggest that both of the two controllers can stabilize the double inverted pendulum system and haverobustness as well.
Keywords/Search Tags:Inverted pendulum, PSO, LQR, Fuzzy control, Real-time control
PDF Full Text Request
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