Application of Ant Colony Algorithm in Optimal Control for the Under-actuated System Pendubot

被引：1

作者：

Su Xiaolu ^{[1
]}

Yang, Yu ^{[1
]}

bin, Ge ^{[1
]}

机构：

[1] Dalian Univ Technol, Informat Proc Lab, Dalian 116622, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 3 | 2008年

关键词：

Ant colony algorithm; Under-actuated; Optimal control; Parameter optimization;

D O I：

10.1109/CHICC.2008.4605217

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The ant colony algorithm (ACA), which is an optimization technique based on evolutionary computation in the advantages of fast convergence, good robustness and global optimization capability. In the paper, the mathematical model of ant colony algorithm is introduced. According to the under-actuated manipulator system pendubot, using the state feedback control of partial feedback linearization, a swing-up controller is designed. Then the ant colony algorithm is utilized to find an optimal value of the system parameters. Therefore the controller is properly transformed smoothly by using switching. The simulation results are presented showing that the proposed method can shorten the period of time and more excellent control performance.

引用

页码：526 / 529

页数：4