Generating robust control equations with Genetic Programming for control of a rolling inverted pendulum
Hiroaki Shimooka, Yoshiji Fujimoto · 2000
In control applications, to apply the results obtained by evolutions and simulations to real systems, it is indispensable for them to have high robustness in computer simu-lations. The goal of this study is to gener-ate robust control equations for controlling the real system of a rolling inverted pendu-lum with Genetic Programming. The control equations for this system must swing a pole up from a hanging state and then keep the pole inversely standing. Therefore, we in-troduce the “compound fitness evaluation,” which consists of two simulations correspond-ing to two control requirements. As a re-sult of the evolutionary experiments, five ro-bust and stable control equations that swing a pole up and keep it standing are obtained. By theoretical analysis, it is proven that pole-cart systems using these control equations are asymptotically stable. The robustness of these equations are verified by dynamical simulations that vary each parameter of the pole-cart system. 1