Title :
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
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;
Conference_Titel :
Tools with Artificial Intelligence, 1997. Proceedings., Ninth IEEE International Conference on
Conference_Location :
Newport Beach, CA
Print_ISBN :
0-8186-8203-5
DOI :
10.1109/TAI.1997.632265
