Design of the LQR Controller and Observer with Fuzzy Logic GA and GA-PSO Algorithm for Triple an Inverted Pendulum and Cart System

In this paper, designing of the LQR controller and observer with intelligent tools for the triple inverted pendulum is investigated. Intelligent tools are considered as GA and GA-PSO optimization algorithms and fuzzy logic to qualify achieving LQR gains. The pendulum is swung up from the vertical position to the unstable position. The rules for the controlled swing up are heuristically achieved such that each swing results are controlled. The inverted pendulum and cart system are modeled and constructed their equation based on energy method. Also, the performances of the proposed fuzzy logic controller, GA and GAPSO tuning LQR gains are investigated and compared. Simulation results show that the fuzzy Logic Controllers are far more superior in terms of overshoot, settling time and response to parameter change
 

مقالات
حجم فایل 775 کیلوبایت
زبان مقاله ENGLISH
سال انتشار 2014
محل انتشار Proceedings of the 2014 International Conference on Advanced Mechatronic Systems
مشخصات کلی
تعداد صفحات 6
تعداد صفحات محصول 1-20

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Design of the LQR Controller and Observer with Fuzzy Logic GA and GA-PSO Algorithm for Triple an Inverted Pendulum and Cart System

  • تولید کننده: Iman Shafieenejad
  • شناسنامه: AS4-1028-paper
  • موجودی: در انبار
  • تاریخ چاپ: 2016-10-25
  • نویسنده: Iman Shafieenejad, Vahid. R. Molazadeh, Afshin Banazadeh
  • ژورنال: Proceedings of the 2014 International Conference on Advanced Mechatronic Systems
  • رایگان

برچسب ها: Triple vertical pendulum, Controller, LQR, Observer, Evolutionary optimization, Fuzzy logic