DocumentCode
1638632
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
fYear
2010
Firstpage
253
Lastpage
256
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Software Engineering and Service Sciences (ICSESS), 2010 IEEE International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4244-6054-0
Type
conf
DOI
10.1109/ICSESS.2010.5552427
Filename
5552427
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