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All Journal Journal of Robotics and Control (JRC)
Le Tran Thang
Controls, Automation in Production and Improvement of Technology Institute
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Journal : Journal of Robotics and Control (JRC)

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Synthesis of LQR Controller Based on BAT Algorithm for Furuta Pendulum Stabilization Nguyen Xuan Chiem; Le Tran Thang
Journal of Robotics and Control (JRC) Vol 4, No 5 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i5.19661

Abstract

In this study, a controller design method based on the LQR method and BAT algorithm is presented for the Furuta pendulum stabilization system. Determine the LQR controller, it is often based on the designer's experience or using trial and error to find the Q, R matrices. The BAT search algorithm is based on the characteristics of the bat population in the wild. However, there are advantages to finding multivariate objective functions. The BAT algorithm has an improvement for the LQR controller to optimize the linear square function with fast response time, low energy consumption, overshoot, and a small number of oscillations. Swarm optimization algorithms have advantages in finding global extrema of multivariate functions. Therefore, with a large number of elements of the Q and R matrices, they can also be quickly found and these matrices still satisfy the Riccati equation. The controller with optimal parameters is verified through simulation results with different scenarios. The performance of the proposed controller is compared with a conventional LQR controller and implemented on a real system.
Co-Authors Nguyen Xuan Chiem