Design and implementation of PSO based LQR control for inverted pendulum through PLC
| Autor: | Sasithorn Chookaew, Warin Sootkaneung, Sunphong Thanok, Suppachai Howimanporn |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry MathematicsofComputing_NUMERICALANALYSIS Programmable logic controller Particle swarm optimization Control engineering 02 engineering and technology Linear-quadratic regulator Swing Inverted pendulum 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Algorithm design MATLAB business computer computer.programming_language |
| Zdroj: | SII |
| DOI: | 10.1109/sii.2016.7844075 |
| Popis: | This work proposes design and implementation of an optimal inverted pendulum controller using linear quadratic regulator (LQR) based on particle swarm optimization (PSO). The LQR feedback module is implemented on the Mitsubishi Q series-UDV programmable logic controller (PLC). In this paper, the optimum gains of the PSO based LQR are predefined offline by MATLAB and subsequently, evaluated in our experimental inverted pendulum. The results show that our proposed PSO based LQR technique provides the maximum swing with as low as 4 times of that from the traditional LQR approach when applied to the real plant. |
| Databáze: | OpenAIRE |
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