基于启发式优化的旋转倒立摆LQR加权矩阵选择

2018 International Conference on Recent Trends in Electrical, Control and Communication (RTECC) Pub Date : 2018-03-01 DOI:10.1109/RTECC.2018.8625676

Krishanu Nath, L. Dewan

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引用次数: 2

摘要

线性二次型调节器(LQR)权矩阵的选择就是这样一个决策，它对系统的动力学特性有很大的影响。植物动力学与其数值之间存在非线性关系。对于存在这种非线性关系的问题，启发式算法对于提取较好的解非常有用。本文尝试用启发式优化技术对旋转倒立摆进行LQR加权矩阵的最优选择，使系统的沉降时间最小。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Heuristic optimization based choice of LQR weighting matrices for a rotary inverted pendulum

The choice of weighting matrices of the linear quadratic regulator (LQR) is one such decision which has a great effect on the dynamics of the system. There exists a nonlinear relationship between the dynamics of plant and their numerical values. Problems where such nonlinear relation exists, heuristic have served very useful to extract a better solution. In this paper, an attempt is made for the optimal choice of LQR weighting matrices using heuristic optimization techniques for a rotary inverted pendulum such that the settling time of the system is minimized.

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2018 International Conference on Recent Trends in Electrical, Control and Communication (RTECC)

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