Proceedings of the 2015 International Conference on Automation, Mechanical Control and Computational Engineering

Design and implementation of the inverted pendulum optimal controller based on hybrid genetic algorithm

Authors
Bingbing Wu, Chaoying Liu, Xueling Song, Xuesong Wang
Corresponding Author
Bingbing Wu
Available Online April 2015.
DOI
https://doi.org/10.2991/amcce-15.2015.114How to use a DOI?
Keywords
Double inverted pendulum; LQR; Genetic Algorithms
Abstract
The inverted pendulum is a multivariable, rapid, nonlinear unstable system. LQR optimal control is often used in inverted pendulum control for its good stability. According to optimal determination problem of the weighting matrix Q and R in LQR, an improved hybrid genetic algorithm is adopted in LQR optimal controller design in double inverted pendulum and the optimal parameter values can be find by effective use of its intelligent search, progressive optimization features characters. This controller is successfully used in double inverted pendulum. The experimental results show that the optimal controller designed by this method has small overshoot and fast response. It can actually control the inverted pendulum system to achieve stability and proves the feasibility of the control method.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
2015 International Conference on Automation, Mechanical Control and Computational Engineering
Part of series
Advances in Intelligent Systems Research
Publication Date
April 2015
ISBN
978-94-62520-64-6
ISSN
1951-6851
DOI
https://doi.org/10.2991/amcce-15.2015.114How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Bingbing Wu
AU  - Chaoying Liu
AU  - Xueling Song
AU  - Xuesong Wang
PY  - 2015/04
DA  - 2015/04
TI  - Design and implementation of the inverted pendulum optimal controller based on hybrid genetic algorithm
BT  - 2015 International Conference on Automation, Mechanical Control and Computational Engineering
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/amcce-15.2015.114
DO  - https://doi.org/10.2991/amcce-15.2015.114
ID  - Wu2015/04
ER  -