Title :
Application of ant colony algorithm in optimal control for the under-actuated system pendubot
Author :
Xiaolu, Su ; Yang, Yu ; Bin, Ge
Author_Institution :
Inf. Process. Lab., Dalian Univ., Dalian
Abstract :
The ant colony algorithm (ACA), which is an optimization technique based on evolutionary computation in the advantages of fast convergence, good robustness and global optimization capability. In the paper, the mathematical model of ant colony algorithm is introduced. According to the under-actuated manipulator system pendubot, using the state feedback control of partial feedback linearization, a swing-up controller is designed. Then the ant colony algorithm is utilized to find an optimal value of the system parameters. Therefore the controller is properly transformed smoothly by using switching. The simulation results are presented showing that the proposed method can shorten the period of time and more excellent control performance.
Keywords :
control system synthesis; evolutionary computation; feedback; manipulators; optimal control; optimisation; robust control; ant colony algorithm; evolutionary computation; mathematical model; optimal control; state feedback control; swing-up controller; under-actuated system pendubot; Algorithm design and analysis; Ant colony optimization; Control systems; Design optimization; Educational institutions; Information processing; Laboratories; Linear feedback control systems; Optimal control; State feedback; Ant colony algorithm; Optimal control; Parameter optimization; Under-actuated;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4605217