Publication result detail

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

MARADA, T.; MATOUŠEK, R.; ZUTH, D.

Original Title

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

English Title

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

Type

Scopus Article

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

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

Key words in English

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

Authors

MARADA, T.; MATOUŠEK, R.; ZUTH, D.

RIV year

2018

Released

01.06.2017

Publisher

Brno University of Technology

Location

Brno, Czech Republic

ISBN

1803-3814

Periodical

Mendel Journal series

Volume

23 (2017)

Number

1

State

Czech Republic

Pages from

149

Pages to

156

Pages count

202

URL

https://mendel-journal.org/index.php/mendel/article/view/66

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",
  journal="Mendel Journal series",
  year="2017",
  volume="23 (2017)",
  number="1",
  pages="149--156",
  doi="10.13164/mendel.2017.1.149",
  issn="1803-3814",
  url="https://mendel-journal.org/index.php/mendel/article/view/66"
}