Detail publikace
DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM
MARADA, T. MATOUŠEK, R. ZUTH, D.
Originální název
DESIGN OF LINEAR QUADRATIC REGULATOR (LQR) BASED ON GENETIC ALGORITHM FOR INVERTED PENDULUM
Typ
článek v časopise ve Scopus, Jsc
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
Inverted pendulum, Linear Quadratic regulator (LQR), Genetic algorithm
Autoři
MARADA, T.; MATOUŠEK, R.; ZUTH, D.
Vydáno
1. 6. 2017
Nakladatel
Brno University of Technology
Místo
Brno, Czech Republic
ISSN
1803-3814
Periodikum
Mendel Journal series
Ročník
23 (2017)
Číslo
1
Stát
Česká republika
Strany od
149
Strany do
156
Strany počet
202
URL
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"
}