基于遗传算法的倒立摆系统的多级控制研究

Study of Multi-Step Control for Treble Inverted Pendulum Based on GA(Genetic Algorithm)

将单一的复杂控制转化为多级简单控制的控制方法应用到三级倒立摆系统的控制中,并通过遗传算法对各级控制中的未知参数进行优化.给出了多级控制器的设计方法和参数优化步骤.仿真试验证明了该控制方法的可行性.

The method of transforming a complex control system into multi-step simple control system is applied in the treble inverted pendulum.The parameters of all steps are optimized with GA（Genetic Algorithm）.The method of multi-step control and the steps of optimization are proposed.Simulation experiments verify the feasibility of the given method.