粒子群优化与差分进化算法在小车倒立摆积分滑模控制中的性能评价

Terkaa J. Shima, H. Bashir
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引用次数: 1

摘要

本文采用粒子群算法和微分方程算法确定了小车倒立摆(CIP)系统不稳定平衡位置的积分滑模控制器(ISMC)的最优参数。为了比较,我们评估了PSO-ISMC和DE-ISMC在CIP系统不稳定平衡位置的稳定性能。仿真结果表明,PSO-ISMC和DE-ISMC都能使CIP系统稳定在不稳定的平衡状态。重要的是,实验成功地确定了PSO-ISMC和DE-ISMC算法相对于不稳定平衡位置的最佳性能取决于倒立摆位置的特定情况。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Performance assessment of particle swarm optimisation and differential evolution algorithms on integral sliding mode control of cart-inverted pendulum
In this paper, optimal parameters of integral sliding mode controller (ISMC) that balances a cart-inverted pendulum (CIP) system in the unstable equilibrium position are determined using both PSO and DE algorithms. For comparison purposes, the performances of the PSO-ISMC and the DE-ISMC on the stabilisation of the CIP system in its unstable equilibrium position are evaluated. Simulation results have shown that both the PSO-ISMC and the DE-ISMC are capable of stabilising the CIP system in the unstable equilibrium. Importantly, the experiments successfully identified the particular situations in which the PSO-ISMC and the DE-ISMC algorithms perform best depending on the position of the inverted pendulum with respect to the unstable equilibrium position.
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