Publication detail
DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM
MARADA, T. MATOUŠEK, R. ZUTH, D.
English title
DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM
Type
journal article in Scopus
Language
en
Original abstract
One of the crucial problems in the dynamics and automatic control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. This task is often used as a benchmark for di erent method comparison. In the practical use of the LQR method, the key problem is how to choose weight matrices Q and R correctly. To obtain satisfying results the experiments should be repeated many times with di erent parameters of weight matrices. These LQR parameters can be tuned by a Genetic Algorithm (GA) technique for getting better results.
English abstract
One of the crucial problems in the dynamics and automatic control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. This task is often used as a benchmark for di erent method comparison. In the practical use of the LQR method, the key problem is how to choose weight matrices Q and R correctly. To obtain satisfying results the experiments should be repeated many times with di erent parameters of weight matrices. These LQR parameters can be tuned by a Genetic Algorithm (GA) technique for getting better results.
Keywords in English
Inverted pendulum, Linear Quadratic regulator (LQR), Genetic algorithm
Released
01.06.2017
Publisher
Brno University of Technology
Location
Brno, Czech Republic
ISSN
1803-3814
Volume
23 (2017)
Number
1
Pages from–to
149–156
Pages count
202
BIBTEX
@article{BUT142836,
author="Tomáš {Marada} and Radomil {Matoušek} and Daniel {Zuth},
title="DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM",
year="2017",
volume="23 (2017)",
number="1",
month="June",
pages="149--156",
publisher="Brno University of Technology",
address="Brno, Czech Republic",
issn="1803-3814"
}