%0 Journal Article
%T Swing-up control under limited torque of rotary double inverted pendulum based on hybrid genetic algorithms<br>基于混合遗传算法的力矩受限圆轨二级倒立摆摆起控制
%A YAO Jian-shi
%A ZENG Peng-xin
%A XU Xin-he
%A <br>么健石
%A 曾鹏鑫
%A 徐心和
%J 控制理论与应用
%D 2005
%I 
%X To realize the swing-up control of nonlinear double inverted rotary pendulum under limited torque,an open-loop control strategy is presented.Within the specified time limit,the strategy determines and implements an optimal feed-forward control sequence to the system,swings up the double inverted pendulum from its hanging position,and achieves zero speed state at the upright position.The hybrid genetic algorithms are employed to get the better optimization control law,and the problem of limited torque is solved by individual representation operation.Numerical simulations confirm the strategy's validity and feasibility.this strategy provides an effective solution to other nonlinear multivariable control systems as well.
%K rotary double inverted pendulum
%K swing-up control
%K limited torque
%K hybrid genetic algorithm<br>圆轨二级倒立摆
%K 摆起控制
%K 力矩受限
%K 混合遗传算法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=CE72DCA1BAF78D41&yid=2DD7160C83D0ACED&vid=BC12EA701C895178&iid=E158A972A605785F&sid=D9D6C3CD78BED2C5&eid=54E527C5B72E59D8&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=11