The simulation of double inverted pendulum control based on particle swarm optimization LQR algorithm

The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult. This paper presents a new method to achieve the double inverted pendulum system LQR controller parameters optimization through the particle...

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Published in2010 IEEE International Conference on Software Engineering and Service Sciences pp. 253 - 256
Main Authors Xin Xiong, Zhou Wan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2010
Subjects
Equations
Heuristic algorithms
Inverted pendulum
LQR controller
Mathematical model
Matrices
Optimal control
Optimization
Particle swarm optimization
Online AccessGet full text
ISBN1424460549
9781424460540
ISSN2327-0586
DOI10.1109/ICSESS.2010.5552427

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Abstract The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult. This paper presents a new method to achieve the double inverted pendulum system LQR controller parameters optimization through the particle swarm optimization algorithm. The simulation result shows that the method used in the choice of matrix Q and R achieves very good results.
AbstractList The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult. This paper presents a new method to achieve the double inverted pendulum system LQR controller parameters optimization through the particle swarm optimization algorithm. The simulation result shows that the method used in the choice of matrix Q and R achieves very good results.
Author Zhou Wan
Xin Xiong
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  fullname: Zhou Wan
  organization: Fac. of Inf. Eng. & Autom., Kunming Univ. of Sci. & Technol., Kunming, China
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Snippet The application of LQR controller in inverted pendulum system is common, but the choice of weight matrix Q and R of LQR controller has always been a difficult....
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StartPage 253
SubjectTerms Equations
Heuristic algorithms
Inverted pendulum
LQR controller
Mathematical model
Matrices
Optimal control
Optimization
Particle swarm optimization
Title The simulation of double inverted pendulum control based on particle swarm optimization LQR algorithm
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