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Synthesis of LQR Controller Based on BAT Algorithm for Furuta Pendulum Stabilization

Chiem, N.X. and Thang, L.T. (2023) Synthesis of LQR Controller Based on BAT Algorithm for Furuta Pendulum Stabilization. Journal of Robotics and Control (JRC), 4 (5). pp. 662-669. ISSN 27155056

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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. © 2023 Journal of Robotics and Control (JRC). Physics and Mathematics Series. All rights reserved.

Item Type: Article
Divisions: Faculties > Faculty of Control Engineering
Identification Number: 10.18196/jrc.v4i5.19661
Uncontrolled Keywords: BAT Algorithm; Controller; Furuta Pendulum; LQR Method; Riccati Equation
URI: http://eprints.lqdtu.edu.vn/id/eprint/10997

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