Title :
The simulation of double inverted pendulum control based on particle swarm optimization LQR algorithm
Author :
Xiong, Xin ; Wan, Zhou
Author_Institution :
Fac. of Inf. Eng. & Autom., Kunming Univ. of Sci. & Technol., Kunming, China
Abstract :
The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult. This paper presents a new method to achieve the double inverted pendulum system LQR controller parameters optimization through the particle swarm optimization algorithm. The simulation result shows that the method used in the choice of matrix Q and R achieves very good results.
Keywords :
linear quadratic control; nonlinear control systems; particle swarm optimisation; pendulums; LQR controller; double inverted pendulum control; linear quadratic performance index; particle swarm optimization; Equations; Heuristic algorithms; Mathematical model; Matrices; Optimal control; Optimization; Particle swarm optimization; Inverted pendulum; LQR controller; Particle swarm optimization;
Conference_Titel :
Software Engineering and Service Sciences (ICSESS), 2010 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6054-0
DOI :
10.1109/ICSESS.2010.5552427
