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

fYear

2008

fDate

16-18 July 2008

Firstpage

526

Lastpage

529

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CHICC.2008.4605217

Filename

4605217