The LQR Real-time Control for the Inverted Pendulum Based on PSO

Author

Guoping, Liu ; Genfu, Xiao ; Xiaohui, Yang

Author_Institution

Sch. of Mech. & Electr. Eng., Nanchang Univ., Nanchang, China

fYear

2010

fDate

25-27 June 2010

Firstpage

2363

Lastpage

2366

Abstract

This paper established a mathematical model of the inverted pendulum system and put forward a design method of LQR based on PSO. A LQR is designed by this method according to the computer simulation experiments. The simulation results show that the inverted pendulum system with the LQR has good performance. Then the real-time control of the pendulum has been accomplished successfully based on the real-time control model built in Simulink. The LQR designed in the computer simulation experiments is applied to real-time controls. The real-time control experiments also validated the correctness of the theoretical analysis and the rightness of the computer simulation.

Keywords

control system synthesis; linear quadratic control; nonlinear control systems; particle swarm optimisation; pendulums; inverted pendulum system; linear quadratic regular real time control; particle swarm optimization; Computer simulation; Conferences; Control systems; Digital signal processing; Particle swarm optimization; Real time systems; Robustness; Inverted pendulum; LQR; PSO; Real-time control; Simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-6880-5

Type

conf

DOI

10.1109/iCECE.2010.583

Filename

5631860