運動制御問題への遺伝アルゴリズムの適用

URI http://harp.lib.hiroshima-u.ac.jp/kure-nct/metadata/8508
File
Title
運動制御問題への遺伝アルゴリズムの適用
Title Alternative
Application of Genetic Algorithm to Solve a Motion Control Problem
Author
氏名 山崎 勉
ヨミ ヤマサキ ツトム
別名 Yamasaki Tsutomu
Subject
inverted pedulum
genetic algorithm
motion control
computer simulation
倒立振子
遺伝アルゴリズム
運動制御
計算機シミュレーション
Abstract

Results of computer simulations of motion cotrol problem of an inverted pendulum to swing up and to stabilize in inverted state were presented. Calculations were carried out using genetic algorithm to find time-sequential signals to swing up an pendulum from pendent state and to stabilize it in inverted state. Individual genome consist of four locuses, four time intervals for bang-bang control principle to swing, and four gains for states feedback control to keep standing were developed in evolutionary computation with evaluating cost function as sum of deviations from final state to be minimized. Obtained control signals were good compared to optimized one derived by trial and error method.

Journal Title
呉工業高等専門学校研究報告
Issue
64
Spage
31
Epage
35
Published Date
2002
Publisher
呉工業高等専門学校
ISSN
0286-4037
NAID
110000062765
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
kure-nct