Design approach of weighting matrices for LQR based on multi-objective evolution algorithm

Author

Li, Yong ; Liu, Jianchang ; Wang, Yu

Author_Institution

Key Lab. of Integrated Autom. of Process Ind., Northeastern Univ., Shenyang

fYear

2008

fDate

20-23 June 2008

Firstpage

1188

Lastpage

1192

Abstract

Aiming at the difficulty of designing weighting matrices for linear quadratic regulator (LQR), a multi-objective evolution algorithm (MOEA) based approach is proposed. The LQR weighting matrices, state feedback control rate and optimal controller are obtained by means of establishing the multi-objective optimization model of LQR weighting matrices and applying MOEA to it, which makes control system meet multiple performance indexes simultaneously. Controller of double inverted pendulum system is designed using the proposed approach. Simulation results show that it has shorter adjusting time, smaller amplitude value deviating from steady-state than the pole assignment LQR weighting matrices design approach. So the validity of the proposed approach is confirmed.

Keywords

control system synthesis; evolutionary computation; linear quadratic control; matrix algebra; nonlinear control systems; optimisation; performance index; pole assignment; state feedback; controller design; double inverted pendulum system; linear quadratic regulator; multiobjective evolution algorithm; multiobjective optimization model; optimal controller; performance index; pole assignment; state feedback control; weighting matrices; Algorithm design and analysis; Automatic control; Control system synthesis; Design automation; Optimal control; Performance analysis; Regulators; State feedback; Symmetric matrices; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation, 2008. ICIA 2008. International Conference on

Conference_Location

Changsha

Print_ISBN

978-1-4244-2183-1

Electronic_ISBN

978-1-4244-2184-8

Type

conf

DOI

10.1109/ICINFA.2008.4608180

Filename

4608180