한국해양대학교

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RCGA를 이용한 도립진자 시스템의 파라미터 추정 및 안정화 제어

Title
RCGA를 이용한 도립진자 시스템의 파라미터 추정 및 안정화 제어
Alternative Title
Parameter Estimation and Stabilization Control of an Inverted Pendulum System Using a RCGA
Author(s)
안종갑
Publication Year
2006
Publisher
한국해양대학교
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174406
http://repository.kmou.ac.kr/handle/2014.oak/8426
Abstract
This thesis presents a scheme for the parameter estimation and stabilization of an inverted pendulum system. First, a stable feedback loop is constructed for the unstable nonlinear system and then the parameters of its linearized model are estimated using input-output data, a real-coded genetic algorithms (RCGA) and the model adjustment technique. Parameter estimation does searching linear model from nonlinear model. A PI-type LQ control scheme is designed on the basis of estimated linear model such that the output can track a step reference input under constant disturbance environment. The performance of the proposed scheme is demonstrated through a set of simulation and experiment.
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메카트로닉스공학과 > Thesis
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