Design and implementation of the inverted pendulum optimal controller based on hybrid genetic algorithm

DOI

10.2991/amcce-15.2015.114How to use a DOI?

Keywords

Double inverted pendulum; LQR; Genetic Algorithms

Abstract

The inverted pendulum is a multivariable, rapid, nonlinear unstable system. LQR optimal control is often used in inverted pendulum control for its good stability. According to optimal determination problem of the weighting matrix Q and R in LQR, an improved hybrid genetic algorithm is adopted in LQR optimal controller design in double inverted pendulum and the optimal parameter values can be find by effective use of its intelligent search, progressive optimization features characters. This controller is successfully used in double inverted pendulum. The experimental results show that the optimal controller designed by this method has small overshoot and fast response. It can actually control the inverted pendulum system to achieve stability and proves the feasibility of the control method.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bingbing Wu
AU  - Chaoying Liu
AU  - Xueling Song
AU  - Xuesong Wang
PY  - 2015/04
DA  - 2015/04
TI  - Design and implementation of the inverted pendulum optimal controller based on hybrid genetic algorithm
BT  - Proceedings of the 2015 International Conference on Automation, Mechanical Control and Computational Engineering
PB  - Atlantis Press
SP  - 1480
EP  - 1486
SN  - 1951-6851
UR  - https://doi.org/10.2991/amcce-15.2015.114
DO  - 10.2991/amcce-15.2015.114
ID  - Wu2015/04
ER  -