Parameter optimisation of human-simulated intelligent controller for a cart-double pendulum system Online publication date: Tue, 10-Aug-2010
by Guiqiang Chen, Linjian Tang, Zushu Li
International Journal of Modelling, Identification and Control (IJMIC), Vol. 10, No. 3/4, 2010
Abstract: Using a hierarchical and multi-mode control structure, a human-simulated intelligent controller (HSIC) successfully realises the swing-up and stabilisation control for a cart-double pendulum system. In order to effectively optimise several parameters in control laws and advance the further application space of HSIC, a hybrid simplex-genetic algorithm (HSGA) is proposed in this paper. By analysing the procedure of swing-up and stabilisation control, the paper discusses how we determine the solution space of parameters and select the fitness function suited to this optimisation problem. The two different strategies, which are HSGA strategy and manual adjustment method, are performed the simulation experiments, respectively. The simulation results show that it has the better response of HSIC obtained by the proposed HSGA strategy. So it is proved that the proposed HSGA is effective to implement parameter optimisation of HSIC.
Online publication date: Tue, 10-Aug-2010
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