【摘要】 研究利用混沌优化的LQ控制方法对三级倒立摆系统进行闭环控制。首先将混沌变量引入LQ控制器的权矩阵参数域,并进行全局范围内直接寻优,当获得全局近似最优解后,再缩小寻优区间,在次优解附近继续寻优,得到全局最优权矩阵参数。仿真结果表明了该方法的有效性和具有良好的抗干扰能力。更多还原

【Abstract】 Linear quadratic optimum controller based on chaos optimization is employed to control triple inverted pendulum in this paper.The weighting matrix of LQ is optimized by chaos method.Firstly,chaos factors are applied to search for parameters of LQ and direct optimization within global range.Then the searching space of variables is continually reduced,based on the synthesis performance index when approximate global optimal solution are obtained.The simulation results of triple inverted pendulum show that the method is effective and has good ability of resistance to disturbance.更多还原