基于模型预测控制与遗传算法估计器的未知长度飞行倒立摆平衡控制
Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator
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中文总结 AI 辅助
针对摆长未知的飞行倒立摆平衡控制问题，提出在线GA估计器与MPC方法，经实际系统测试验证了控制器鲁棒性、跟踪精度及估计器收敛速度与精度。
中文摘要 AI 辅助
本文针对摆长未知的飞行倒立摆实际实验问题，提出在线遗传算法（GA）估计器与模型预测控制（MPC）方法。通过扰动与轨迹跟踪测试，在实际系统上验证了MPC方法的性能，评估控制器的鲁棒性与跟踪精度；在不同初始条件下，于实际系统上验证了在线GA估计器的收敛速度与精度。
英文摘要
This paper proposes an online Genetic Algorithm (GA) estimator and a Model Predictive Control (MPC) approach to solve the flying inverted pendulum problem in a practical experiment where the pendulum length is unknown. The performance of the MPC approach was demonstrated on a practical system through disturbance and trajectory tracking tests to assess controller robustness and tracking accuracy. The convergence speed and accuracy of the online GA estimator were validated on a practical system using different initial conditions.
