差分進化に基づくアーム型倒立振子の非線形準最適レギュレータ設計と実機実験による検証

抄録

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 get the analysis solution for this problem. In this paper, DE (Differential Evolution) and PSO (Particle Swarm Optimization) methods are used to get an approximate solution. In addition to the first order feedback gain designed by the linear optimal regulator, we design the higher order gain. Finally, the validity of our nonlinear controller designed by DE is verified through some experiments.