A General Parameters Optimization Method for Human-Simulated Intelligent Controller and its Application Research

Take the handstand-stabilization-control problem of cart-double-pendulum system (CDPS) as an example, this paper detailed a general control parameters optimization and system implementation method for human-simulated intelligent controller. Firstly, the physical and dynamic models of CDPS were analyzed, and then the research platform for the controller of CDPS is also built. Next, the parameters optimization method based on improved genetic algorithm (IGA) for human-simulated controller was introduced in detail, and the effectiveness of parameters optimization method was testified by simulation and experiments. In the end, the conclusion is summarized