A genetic approach to the attitude control of an inverted pendulum system

Author

Ha, Kyung-Jae ; Kim, Hak-Man

Author_Institution

Kyungnam Univ., South Korea

fYear

1997

Firstpage

268

Lastpage

269

Abstract

The authors present a genetic approach to the optimal linear quadratic regulator (LQR) problem. Design of the optimal LQR depends on choosing weighting matrices. One must carry out a trial-and-error process to choose the proper weighting matrices in general. It is not a trivial problem. They show a new possibility using a genetic algorithm (GA) to find the proper weighting matrices and hence to obtain the optimal control gain. They apply the approach to the attitude control of an inverted pendulum system, which is known as the LQR problem. They perform computer simulations on the system with a 50 cm long inverted pendulum and obtain good results

Keywords

attitude control; control system analysis computing; digital simulation; genetic algorithms; matrix algebra; nonlinear control systems; optimal control; pendulums; attitude control; computer simulations; genetic algorithm; inverted pendulum system; optimal control gain; optimal linear quadratic regulator problem; trial-and-error process; weighting matrices; Biological cells; Computer simulation; Control systems; Genetic algorithms; Modems; Optimal control; Performance analysis; Performance gain; Regulators; Riccati equations;

fLanguage

English

Publisher

ieee

Conference_Titel

Tools with Artificial Intelligence, 1997. Proceedings., Ninth IEEE International Conference on

Conference_Location

Newport Beach, CA

ISSN

1082-3409

Print_ISBN

0-8186-8203-5

Type

conf

DOI

10.1109/TAI.1997.632265

Filename

632265