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| YiqiangLI,XingZHANG,YaobinCHEN,HuixingZHOU |
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| (Department of Engineering Mechanics, Tsinghua University;Department of Electrical and Computer Engineering, Indiana University-Purdue University at Indianapolis (IUPUI);School of Engineering, China Agricultural University) |
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| DOI： |
| Received:March 11, 2010Revised:February 28, 2011 |
| 基金项目:This work was partly supported by the China Scholarship Council (No. 2007103188). |
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| Particle swarm optimization for time-optimal control design |
| Yiqiang LI,Xing ZHANG,Yaobin CHEN,Huixing ZHOU |
| (Department of Engineering Mechanics, Tsinghua University;Department of Electrical and Computer Engineering, Indiana University-Purdue University at Indianapolis (IUPUI);School of Engineering, China Agricultural University) |
| Abstract: |
| In this paper, a particle swarm optimization (PSO) based method is proposed to obtain the time-optimal bang-bang control law for both linear and nonlinear systems. By introducing a penalty function, the method can be modified to deal with systems with constraints. Compared with existing computational methods, the proposed method can be implemented in a straightforward manner. The convergent solutions can be achieved by selecting suitable PSO parameters
regardless of the initial guess of the switching times. A double integrator and a third-order nonlinear system are used to demonstrate the effectiveness and robustness of the proposed method. The method is applied to obtain the time-optimal control law for a high performance linear motion positioning system. The results show the practicality of the proposed algorithm. |
| Key words: Optimal control Bang-bang control Particle swarm optimization Switching time computation |
