Optimization of LQR controller for inverted pendulum system with artificial bee colony algorithm

As a strong coupled nonlinear under-actuated system, the balance control of the circular-rail double inverted pendulum system is discussed in this paper. Firstly, the linear quadratic regulator is established based on the mathematical model of the plant which is linearized about the pendulum´s upright equilibrium position. In order to obtain the optimal control performance, as well as to avoid repeated adjustment of LQR parameters, artificial bee colony(ABC) algorithm as a new meta-heuristic approach inspired by intelligent foraging behavior of honeybee swarm is introduced for the parameters optimization of Q and R during LQR controller design. The simulation with the circular-rail double inverted pendulum is conducted to demonstrate the effectiveness of the LQR control strategy as well as the ABC optimization algorithm.