Detail publikačního výsledku

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

MARADA, T.; MATOUŠEK, R.; ZUTH, D.

Originální název

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

Anglický název

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

Druh

Článek Scopus

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

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

Klíčová slova v angličtině

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

Autoři

MARADA, T.; MATOUŠEK, R.; ZUTH, D.

Rok RIV

2018

Vydáno

01.06.2017

Nakladatel

Brno University of Technology

Místo

Brno, Czech Republic

ISSN

1803-3814

Periodikum

Mendel Journal series

Svazek

23 (2017)

Číslo

1

Stát

Česká republika

Strany od

149

Strany do

156

Strany počet

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"
}