Performance comparison of optimization algorithms in LQR controller design for a nonlinear system

Ümit ÖNEN; Abdullah ÇAKAN; İlhan İLHAN

Makale detayları

Performance comparison of optimization algorithms in LQR controller design for a nonlinear system

Yazarlar:

Ümit ÖNEN | Abdullah ÇAKAN | İlhan İLHAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2019 Vol.27 Issue 3, pp.1938-1953

Belge Tipi:

Makale

Yayın Tarihi:

5/2019

Belge Dili:

Türkçe

Document ID (Org No.):

2000733976

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

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.

Makale detayları

Performance comparison of optimization algorithms in LQR controller design for a nonlinear system

Yazarlar: Ümit ÖNEN | Abdullah ÇAKAN | İlhan İLHAN

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2019 Vol.27 Issue 3, pp.1938-1953

Belge Tipi: Makale

Yayın Tarihi: 5/2019

Belge Dili: Türkçe

Document ID (Org No.): 2000733976

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Ümit ÖNEN | Abdullah ÇAKAN | İlhan İLHAN

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2019 Vol.27 Issue 3, pp.1938-1953

Belge Tipi:

Makale

Yayın Tarihi:

5/2019

Belge Dili:

Türkçe

Document ID (Org No.):

2000733976

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632