Publication 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

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

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

Released

01.06.2017

Publisher

Brno University of Technology

Location

Brno, Czech Republic

ISBN

1803-3814

Periodical

Mendel Journal series

Year of study

23 (2017)

Number

1

State

CZ

Pages from

149

Pages to

156

Pages count

202

URL

Documents

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",
  annote="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 dierent
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 dierent
parameters of weight matrices. These LQR parameters can be tuned by a Genetic Algorithm (GA) technique
for getting better results.",
  address="Brno University of Technology",
  chapter="142836",
  doi="10.13164/mendel.2017.1.149",
  howpublished="print",
  institution="Brno University of Technology",
  number="1",
  volume="23 (2017)",
  year="2017",
  month="june",
  pages="149--156",
  publisher="Brno University of Technology",
  type="journal article in Scopus"
}