Research on Control Problem of PenduBot Based on PSO Algorithm

摘要

PenduBot is a new experiment object in the control theory and a typical representation in the underactuated robot, so it is the research focus of control and robot domain. It is known for its strongly nonlinear and naturally unstable properties. To stabilize the PenduBot and verify the control abilities of the algorithm on strongly nonlinear and naturally unstable properties, the thesis presents the purpose that the state-feedback matrixes can be optimized by new bionics algorithm PSO. Based on the introduction of standard PSO algorithm, how to select the position and velocity evolution equations parameters and fitness function became a great emphasis. Next, the simulations were done on the linearized PenduBot model in Matlab environment by PSO and LQR algorithm separately, and the results were compared. Finally, the comparison results proved the PSO advantages. The expected goal was achieved.