免疫优化神经网络对倒立摆的控制

Inverted Pendulum Control of Neural Networks Optimized by Immune Algorithm

人工免疫算法是基于生物免疫系统机理和特点发展而来的一种新型智能算法。针对BP神经网络传统训练算法的学习效率低、收敛速度慢且容易陷入局部最优等不足,采用免疫算法对BP神经网络权值进行优化,以实现对倒立摆的控制。实验结果表明,用免疫算法训练神经网络收敛速度快,并能有效避免陷入局部最优。优化后的神经网络能对实际的倒立摆装置进行控制,并取得了满意的效果。

IA is a new intelligent algorithm exploited from principle of immune system.Aiming at the shortages of BP algorithm,such as low efficiency of study,slow speed of constringency,and easy to be trapped into local optimization,IA algorithm is utilized to optimize the weights of the BP neural network so that the existential IP model is controlled by the optimized network.The experimental results show that the optimized BP neural network s constringency speed is faster,and the problem that BP algorithm is easy to...