Detail publikace

# 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

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.

Dokumenty

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 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.",
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"
}``````