[1]PENG Yong,CHEN Yuqiang.Optimal design of the LQR controller based on the improved shuffled frog-leaping algorithm[J].CAAI Transactions on Intelligent Systems,2014,9(4):480-484.[doi:10.3969/j.issn.1673-4785.201305055]
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Optimal design of the LQR controller based on the improved shuffled frog-leaping algorithm
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
9
Number of periods:
2014 4
Page number:
480-484
Column:
学术论文—智能系统
Public date:
2014-08-25
- Title:
- Optimal design of the LQR controller based on the improved shuffled frog-leaping algorithm
- Keywords:
- LQR controller; inverted pendulum; improved shuffled frog-leaping algorithm; optimal design; weight matrices
- CLC:
- TP18
- DOI:
- 10.3969/j.issn.1673-4785.201305055
- Abstract:
- Based on the inverted pendulum system which is multi-variable, nonlinear and strong coupling, a mathematical model of the inverted pendulum is established by utilizing the Newton-Euler method, and then the LQR control is implemented for the model. The weighted matrices Q and R have a direct impact on the dynamic response and control of the single inverted pendulum. During optimization of the matrices Q and R through use of the standard shuffled frog-leaping algorithm, the new worst frog jumping strategy can effectively improve the global search ability of the algorithm and the adaptive jump factor can speed up the convergence. The simulation experiment shows that the improved shuffled frog-leaping algorithm can effectively obtain the optimal weight matrices Q and R; as a result, the effect of the LQR controller meets the performance requirements of the single inverted pendulum.
- References:
-
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