By Topic

Application of GA to design LQR controller for an Inverted Pendulum System

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Wongsathan, C. ; Dept. of Electr. Eng., North-Chiang Mai Univ., Chiang Mai ; Sirima, C.

This paper apply genetic algorithm (GA) to design weighting matrices in linear quadratic regulator (LQR) for an inverted pendulum system (IPS). Feedback gain settings of the system are obtained by minimizing the performance index using GA to optimize the weight matrices of LQR. The divisional of the searching space mechanism and the dynamic crossover and mutation rate are used to insure getting the global optimal results. Time specification performances are also compared considering LQR-GA and experiential-LQR [6] by determine the control strategy delivers with respect to pendulum's angle and cart's position. The simulation results show that the proposed method gives the response better than experiential-LQR [6]. All computations will be carried out using MATLABreg.

Published in:

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Date of Conference:

22-25 Feb. 2009