Optimization of LQR Controller for Inverted Pendulum System with Artificial Bee Colony Algorithm

被引：0
|
作者：
Wang, Haiquan [1 ]
Zhou, Huaqiang [1 ]
Wang, Dongyun [1 ]
Wen, Shengjun [1 ]
机构：
[1] Zhongyuan Univ Technol, Dept Elect & Informat, Zhengzhou, Peoples R China
来源：
2013 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2013年
关键词：
inverted pendulum; LQR; artificial bee colony algorithm;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：158 / 162
页数：5
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