Linear Quadratic Regulator Design for Position Control of an Inverted Pendulum by Grey Wolf Optimizer

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dc.contributor.authorErkol, Huseyin Oktay
dc.date.accessioned2024-09-29T16:11:29Z
dc.date.available2024-09-29T16:11:29Z
dc.date.issued2018
dc.departmentKarabük Üniversitesien_US
dc.description.abstractIn this study, a linear quadratic regulator (LQR) based position controller is designed and optimized for an inverted pendulum system. Two parameters, vertical pendulum angle and horizontal cart position, must be controlled together to move a pendulum to desired position. PID controllers are conventionally used for this purpose and two different PID controllers must be used to move the pendulum. LQR is an alternative method. Angle and position of inverted pendulum can be controlled using only one LQR. Determination of Q and R matrices is the main problem when designing an LQR and they must be minimized a defined performance index. Determination of the Q and R matrices is generally made by trial and error method but finding the optimum parameters using this method is difficult and not guaranty. An optimization algorithm can be used for this purpose and in this way; it is possible to obtain optimum controller parameters and high performance. That's why an optimization method, grey wolf optimizer, is used to tune controller parameters in this study.en_US
dc.identifier.endpage16en_US
dc.identifier.issn2158-107X
dc.identifier.issn2156-5570
dc.identifier.issue4en_US
dc.identifier.startpage13en_US
dc.identifier.urihttps://hdl.handle.net/20.500.14619/8468
dc.identifier.volume9en_US
dc.identifier.wosWOS:000435402400003en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherScience & Information Sai Organization Ltden_US
dc.relation.ispartofInternational Journal of Advanced Computer Science and Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectGrey wolf optimizeren_US
dc.subjectinverted pendulumen_US
dc.subjectposition controlleren_US
dc.subjectlinear quadratic regulatoren_US
dc.subjectoptimized controller designen_US
dc.titleLinear Quadratic Regulator Design for Position Control of an Inverted Pendulum by Grey Wolf Optimizeren_US
dc.typeArticleen_US

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