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Title: Performance comparison of optimization algorithms in LQR controller design for a nonlinear system
Authors: Önen, Ümit
Çakan, Abdullah
İlhan, İlhan
Keywords: Bilgisayar Bilimleri, Yapay Zeka
Bilgisayar Bilimleri, Sibernitik
Bilgisayar Bilimleri, Donanım ve Mimari
Bilgisayar Bilimleri, Bilgi Sistemleri
Bilgisayar Bilimleri, Yazılım Mühendisliği
Bilgisayar Bilimleri, Teori ve Metotlar
Mühendislik, Elektrik ve Elektronik
Issue Date: 2019
Abstract: The development and improvement of control techniques has attracted many researchers for many years. Especially in the controller design of complex and nonlinear systems, various methods have been proposed to determine the ideal control parameters. One of the most common and effective of these methods is determining the controller parameters with optimization algorithms.In this study, LQR controller design was implemented for position control of the double inverted pendulum system on a cart. First of all, the equations of motion of the inverted pendulum system were obtained by using Lagrange formulation. These equations were linearized by Taylor series expansion around the equilibrium position to obtain the state-space model of the system. The LQR controller parameters required to control the inverted pendulum system were determined by using a trial and error method. The determined parameters were optimized by using five different configurations of three different optimization algorithms (GA, PSO, and ABC). The LQR controller parameters obtained as a result of the optimization study with five different configurations of each algorithm were applied to the system and the obtained results were compared with each other. In addition, the configurations that yielded the best control results for each algorithm were compared with each other and the control results were evaluated in terms of response speed and response smoothness.
ISSN: 1300-0632
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections
TR Dizin İndeksli Yayınlar Koleksiyonu / TR Dizin Indexed Publications Collections
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collections

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