Linear Quadratic Optimal Control of an Inverted Pendulum on a Cart Using Artificial Bee Colony Algorithm: An Experimental Study
نویسندگان
چکیده
This study presents a Linear Quadratic Optimal (LQR) controller design for an inverted pendulum on a cart using the Artificial Bee Colony (ABC) algorithm. Main design parameters of the linear quadratic regulator are the weighting matrices. Generally, selecting weighting matrices is managed by trial and error since there exists no apparent connection between these weights and time domain requirements such as settling time, steady state error, and overshoot percentage. In this study after deriving the mathematical models of the inverted pendulum on a cart and the DC motor, an LQR controller is designed using the ABC algorithm to determine weighting matrices to overcome LQR design difficulties. The comparison and experimental results justify that the ABC algorithm is a very efficient way to determine LQR weighting matrices in comparison with a method in literature.
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