Control System of a Feet-Wheeled Inverted Pendulum Based on Double Closed-Loop PID Controller Combined with PSO
Abstract: In order to solve the feet-wheeled inverted pendulum’s stability control problem, a control system of a feet-wheeled inverted pendulum based on double closed-loop PID controller combined with particle swarm optimization is proposed. In addition, we designed a cost function related to the control effect to increase the stability of the control system. Under matlab simulation conditions, stable control of the feet-wheeled inverted pendulum was achieved. Experimental results showed that after tuning, the step response of the controller parameters was better than that of the original parameters with the rise time and the settling time was shorter than that of the non-tuning PID controller. This algorithm has been applied to a vertical intelligent search-identify-sampling system based on the area CCD, showing the availability of the PSO-PID controller.
文章引用: 曲若彤 , 李聪慧 , 曲仕茹 (2014) 采用双闭环PID控制及PSO算法的双足轮式倒立摆控制系统。 传感器技术与应用， 2， 25-34. doi: 10.12677/JSTA.2014.24005
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