基于人工蜂群优化的环形二级倒立摆H∞鲁棒控制器设计

Robust Controller Design for Double Inverted Pendulum Based on Artificial Bee Colony Optimization

摘要:

采用H∞回路成形控制方法实现环形二级倒立摆系统的平衡控制；对于H∞回路成形控制器来说,权函数的选择直接影响控制器性能,而往往权函数的选择是需要通过设计人员的不断试凑来完成,不仅设计效率低下,而且无法得到最优的控制性能；因此引入人工蜂群算法,依靠其优异的全局寻优能力,完成对H∞回路成形控制器权函数的求解并保证最优的控制器性能；仿真结果表明,蜂群算法能够寻优到最优的权函数参数,对应的H∞控制器能够保证环形二级倒立摆在受到外界干扰的情况下依然保持在平衡位置。

Abstract:

In this paper, H∞ loop shaping controller was adopted to realize balance control of double inverted pendulum system. The choice of weight function directly affect controller performance for H∞ loop shaping controller. Weight function is often got by trial and error of designer. This method is not only inefficient, but unable to get the optimal control performance. This paper introduces artificial bee colony algorithm. The algorithm has excellent global optimization ability and can get the weight function of H∞ loop shaping controller and ensure the optimal controller performance. The simulation results show that artificial bee colony algorithm can achieve the desired weight function parameters. H∞ loop shaping controller can keep the double inverted pendulum system the equilibrium position by outside interference.