Application of Genetic Algorithm Optimization LQR Weighting Matrices Control Inverted Pendulum

Peng Shen

doi:10.4028/www.scientific.net/AMM.543-547.1274

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 543-547Application of Genetic Algorithm Optimization LQR...

Application of Genetic Algorithm Optimization LQR Weighting Matrices Control Inverted Pendulum

Abstract:

In practice, the key problem to apply LQR optimal control method is how to correctly choose the weighted matrix of performance index. At present, there is no formulaic approach for this problem. To obtain the satisfying results, people must repeat to test many times. This kind of LQR control method based on genetic algorithms, which can obtain satisfying control results at first hand, is presented for triple inverted pendulum system. The method optimizes the Q-matrix by using genetic algorithms, selects trace of the result of Riccati equation as the objective function. The control problem of triple inverted pendulum is resolved successfully. The simulation results prove that the control effect by this method is better than the other methods mentioned in the references.

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Periodical:

Applied Mechanics and Materials (Volumes 543-547)

Pages:

1274-1277

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.543-547.1274

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Online since:

March 2014

Authors:

Peng Shen*

Keywords:

Genetic Algorithm (GA), LQR, Triple Inverted-Pendulum

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