DocumentCode
3432148
Title
LQR optimal control of triple inverted pendulum based on fuzzy quotient space theory
Author
Zhang, Chen Jason ; Bai, C.Y. ; Ding, Y .Y. ; Zhang, Qi
Author_Institution
Center for the Study of Intelligent Control and Measure Technique, Anhui Normal University, Wuhu 241000, China
fYear
2012
fDate
11-13 Aug. 2012
Firstpage
633
Lastpage
638
Abstract
Inverted pendulum is a typical object for intelligent control. Aiming at the blindness in choosing the weight matrices Q and R during the LQR control process, these matrices are optimized by genetic algorithm in this paper,. The fuzzy control rules are optimized by using information fusion function to change the single complex control policy to hierarchical ones based on quotient space, which can greatly decrease the dimension of the fuzzy control rules. The simulation results show that this method is feasible and the system performs favorable control effect and dynamic properties.
Keywords
Rails; LQR; fuzzy quotient space; genetic algorithm; inverted pendulum;
fLanguage
English
Publisher
ieee
Conference_Titel
Granular Computing (GrC), 2012 IEEE International Conference on
Conference_Location
Hangzhou, China
Print_ISBN
978-1-4673-2310-9
Type
conf
DOI
10.1109/GrC.2012.6468660
Filename
6468660
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