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MARADA, T. MATOUŠEK, R. ZUTH, D.
Original Title
DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM
Type
journal article in Scopus
Language
English
Original Abstract
One of the crucial problems in the dynamics and automatic control theory is balancing of an inverted pendulum robot by moving a cart along a horizontal path. This task is often used as a benchmark for dierent method comparison. In the practical use of the LQR method, the key problem is how to choose weight matrices Q and R correctly. To obtain satisfying results the experiments should be repeated many times with dierent parameters of weight matrices. These LQR parameters can be tuned by a Genetic Algorithm (GA) technique for getting better results.
Keywords
Inverted pendulum, Linear Quadratic regulator (LQR), Genetic algorithm
Authors
MARADA, T.; MATOUŠEK, R.; ZUTH, D.
Released
1. 6. 2017
Publisher
Brno University of Technology
Location
Brno, Czech Republic
ISBN
1803-3814
Periodical
Mendel Journal series
Year of study
23 (2017)
Number
1
State
Czech Republic
Pages from
149
Pages to
156
Pages count
202
URL
https://mendel-journal.org/index.php/mendel/article/view/66
BibTex
@article{BUT142836, author="Tomáš {Marada} and Radomil {Matoušek} and Daniel {Zuth}", title="DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM", journal="Mendel Journal series", year="2017", volume="23 (2017)", number="1", pages="149--156", doi="10.13164/mendel.2017.1.149", issn="1803-3814", url="https://mendel-journal.org/index.php/mendel/article/view/66" }