Detail VaV (142836) ▪ FSI VUT v Brně

Anglický název

DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM

Typ

článek v časopise ve Scopus, Jsc

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

Inverted pendulum, Linear Quadratic regulator (LQR), Genetic algorithm

Vydáno

01.06.2017

Nakladatel

Brno University of Technology

Místo

Brno, Czech Republic

ISSN

1803-3814

Ročník

23 (2017)

Číslo

1

Strany od–do

149–156

Počet stran

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"
}