改进混沌优化算法在二级倒立摆控制中的应用

针对二级倒立摆模糊控制器需要对大量参数进行调整，以及可能出现的规则爆炸问题，本文提出了一种基于混沌优化的模糊控制器的设计方法。将常规模糊控制器进行加权变论域处理，并且对常规混沌优化方法进行改进，采用新的二次载波方式将优化变量转变成混沌变量，通过混沌搜索的方式对当前工作点进行扰动，在搜索过程中通过时变参数的初始值的设定逐渐减少扰动幅度。本文使用Matlab/Simulink对二级倒立摆进行优化仿真研究，分析比较了各种方法的控制效果。结果表明模糊控制器经过混沌搜索的优化后，具有良好的鲁棒性好和适应性。本文提出的改进的混沌优化算法对多变量快速时变系统的模糊控制器的设计提供了一种有效的改进方法。

Application of Improved Chaos Optimization Algorithm for Double Inverted Pendulum Control

In order to improve the control performance and avoid a great deal of adjusting work of the parameters, we applied chaos optimization method in design of fuzzy controller. In this new method, changeable universe of discourse is employed to solve the contradiction between the control performance and the number of fuzzy rule, optimization variables were transformed into chaotic variables by carrier wave way. The current state is disturbed by chaotic variable. Because of the intervention of a variable parameter, the larger the number of searching steps, the smaller the range of the disturbance. In the meantime, the initial value of the variable parameter is given. By using Matlab/Simulink, The simulation results of inverted pendulum show that the method can search quickly, strong adaptability and solve effectively the optimization design of fuzzy controller in multi-input and speediness system.