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"
}