Nonlinear Sub-Optimal Regulator Design of an Arm-Driven Inverted Pendulum Based on Differential Evolution and its Experimental Verification

The arm-driven inverted pendulum is an unstable and nonlinear system. Therefore, the feedback controller designed by the linear control theory cannot be stabilized in the wide range. This paper discusses a nonlinear control design based on the optimal regulator problem. However, it is difficult to g...

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Veröffentlicht in:	Shisutemu Seigyo Jouhou Gakkai rombunshi Control and Information Engineers, 2015/02/15, Vol.28(2), pp.41-49
Hauptverfasser:	Yoshizaki, Ryosuke, Kawata, Masakatsu, Ito, Minoru
Format:	Artikel
Sprache:	eng
Schlagworte:	arm-driven inverted pendulum differential evolution evolutionary computing nonlinear optimal regulator particle swarm optimization
Online-Zugang:	Volltext
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