Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Experimental Study of GA and Heuristic Control Rule based PID Controller for 2-Dimensional Inverted Pendulum

2차원 도립진자를 위한 GA 및 Heuristic한 제어규칙 기반 PID제어기의 실험적 연구

  • 서강면 (청주대학교 정보통신공학부) ;
  • 강문성 (청주대학교 정보통신공학부)
  • Published : 2003.08.01
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Abstract

We have fabricated the two-dimensional inverted pendulum system and designed its controller. The two-dimensional inverted pendulum system, which is composed of X-Y table, is actuated through timing belt by each of two geared DC motors. And the control goal is that the rod is always kept to a vertical position to any distrubance and is quickly moved to the desired position. Because this system has generally nonlinear dynamic characteristics and X-axis and Y-axis move together, it is very difficult to find its exact mathematical model and to design its controller. Therefore, we have designed the PID controller with simple structure and excellent performance. Genetic algorithm(GA), which is blown as one of probabilistic searching methods, and human's heuristic control strategy are introduced to design an optimal PID controller. The usefulness of the proposed GA based PID coefficient searching technique is verified through the experiments and computer simulations.

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References

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