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Le, Thanh-Tri-Dai
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Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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A Study of Optimized-LQR Control for Rotary Inverted Pendulum by Particle Swarm Optimization Le, Thanh-Tri-Dai; Pham, Thanh-Cong; Bui, Duc-Thanh-Long; Nguyen, Quang-Truong; Vo, Van-Nhat-Truong; Dinh, Quoc-Lap; Tran, Le-Hieu; Truong, Thien-Bao; Nguyen, Tan-Loc; Nguyen, Duy-Tan; Nguyen, Tuan-Anh; Nguyen, Viet-Anh; Le, Thi-Thanh-Hoang
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.301

Abstract

Rotary Inverted Pendulum (RIP) is a classical but effective model in testing control algorithms. Besides designing controllers, it can also be a model for testing the evolution algorithms (EAs) in optimizing control parameters. In this paper, we apply particle swarm optimization (PSO), which is an EA, to optimize the parameters of the LQR controller for this model. In the study, an experimental model in which system parameters are already measured and identified in former studies is used. The LQR control method is inherited from former results, and the weighing matrices (Q and R) are optimized by the PSO method. In each case, the control matrix K is obtained from Q and R to apply for RIP. Through both simulation and experiment, LQR control parameters are found better through generations by using PSO. The responses of RIP, in which controllers are designed under optimized Q and R in later generations, are better in quality, and values of the fitness function also supports that opinion. Thence, through this study, beside genetic algorithm (GA), this study proves that PSO is a suitable searching algorithm that can be applied for balancing this single input- multi output (SIMO) system. Also, the experimental platform of RIP in this research confirms its ability to control tests.
LQR Controller Based on BAT Algorithm for Rotary Double Parallel Inverted Pendulum Le, Thanh-Tri-Dai; Nguyen, Ngoc-Kien; Le, Phuc-Truong; Bui, Minh-Nguyen-Bao; Nguyen, Trong-Tin; Tran, Chi-Anh; Doan, Phuong-Tu; Dao, Duc-Nhan; Nguyen, Van-Dong-Hai; Nguyen, Thanh-Tung
Journal of Fuzzy Systems and Control Vol. 3 No. 2 (2025): Vol. 3, No. 2, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i2.304

Abstract

This paper presents an enhanced approach to stabilizing the Rotary Double Parallel Inverted Pendulum (RDPIP) through a combination of the LQR method and the BAT algorithm. Traditionally, selecting appropriate Q and R matrices relies on designers' intuitions or trial-and-error processes, often resulting in suboptimal performance. By leveraging the BAT algorithm’s swarm intelligence, the proposed method automatically optimizes the cost function to yield improved control performance. Key improvements include shorter stabilization time, reduced overshoot, and minimized oscillations. Simulation results show that the BAT-enhanced LQR controller significantly outperforms traditional design in terms of convergence speed and system damping. These findings underscore the potential of metaheuristic algorithms in refining classical control strategies for complex, nonlinear systems.
Co-Authors Bui, Duc-Thanh-Long Bui, Minh-Nguyen-Bao Dao, Duc-Nhan Dinh, Quoc-Lap Doan, Phuong-Tu Le, Phuc-Truong Le, Thi-Thanh-Hoang Nguyen, Duy-Tan Nguyen, Ngoc-Kien Nguyen, Quang-Truong Nguyen, Tan-Loc Nguyen, Thanh-Tung Nguyen, Trong-Tin Nguyen, Tuan-Anh Nguyen, Van-Dong-Hai Nguyen, Viet-Anh Pham, Thanh-Cong Tran, Chi-Anh Tran, Le-Hieu Truong, Thien-Bao Vo, Van-Nhat-Truong