The LQR control of inverted pendulum has been reported to be very effective in nature. Since the weighting matrices of LQR are arbitrary and can be chosen to improve the performance of inverted pendulum. This paper presents the application of three optimization algorithms for obtaining the weighting matrix Q used in LQ control of inverted pendulum. These are Genetic Algorithm (GA), Artificial Bee Colony (ABC) and Ant Colony optimization (ACO) Algorithms. With the help of simulation exercise the comparative performance of inverted pendulum has been demonstrated using optimized values of weighting matrices. From the results the performance of pendulum has much improved when LQ control is obtained using ACO.
Performance Improvement of Inverted Pendulum using Optimization Algorithms
2019-06-01
1707198 byte
Conference paper
Electronic Resource
English