遺伝的アルゴリズムによる倒立振子の振り上げ制御

抄録

The requirement to solve practical nonlinear dynamic control problems is very strong and imperative. This paper aims at studying the feasibility of the application of the Genetic Algorithm (GA) to the nonlinear dynamic control problems. As an application example, the swing up control problem of the pendulum is discussed. It is extremely difficult to determine the swing-up control rule analytically because the problem is highly nonlinear and has multiple solutions. First, the problem is changed into a discrete-time system with the input of bang-bang with zero type. Second, a suitable genetic coding is found and the fitness function is designed. The computer simulations and experimental results demonstrate various swing up motions, and it is confirmed that GA is a suitable method for the complicated nonlinear dynamic control problems.