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Yıl 2019, Cilt 27, Sayı 3, 1938 - 1953, 01.06.2019

Öz

Performance comparison of optimization algorithms in LQR controller design for a nonlinear system

Yıl 2019, Cilt 27, Sayı 3, 1938 - 1953, 01.06.2019

Öz

The development and improvement of control techniques has attracted many researchers for many years. Especially in the controller design of complex and nonlinear systems, various methods have been proposed to determine the ideal control parameters. One of the most common and effective of these methods is determining the controller parameters with optimization algorithms.In this study, LQR controller design was implemented for position control of the double inverted pendulum system on a cart. First of all, the equations of motion of the inverted pendulum system were obtained by using Lagrange formulation. These equations were linearized by Taylor series expansion around the equilibrium position to obtain the state-space model of the system. The LQR controller parameters required to control the inverted pendulum system were determined by using a trial and error method. The determined parameters were optimized by using five different configurations of three different optimization algorithms (GA, PSO, and ABC). The LQR controller parameters obtained as a result of the optimization study with five different configurations of each algorithm were applied to the system and the obtained results were compared with each other. In addition, the configurations that yielded the best control results for each algorithm were compared with each other and the control results were evaluated in terms of response speed and response smoothness.

Ayrıntılar

Bölüm Makaleler
Yazarlar

Ümit ÖNEN Bu kişi benim


Abdullah ÇAKAN
0000-0003-3923-4069


İlhan İLHAN Bu kişi benim

Yayımlanma Tarihi 1 Haziran 2019
Yayınlandığı Sayı Yıl 2019, Cilt 27, Sayı 3

Kaynak Göster

Bibtex @ { tbtkelektrik577550, journal = {Turkish Journal of Electrical Engineering and Computer Science}, issn = {1300-0632}, eissn = {1303-6203}, address = {}, publisher = {TÜBİTAK}, year = {2019}, volume = {27}, number = {3}, pages = {1938 - 1953}, title = {Performance comparison of optimization algorithms in LQR controller design for a nonlinear system}, key = {cite}, author = {Önen, Ümit and Çakan, Abdullah and İlhan, İlhan} }
APA Önen, Ü. , Çakan, A. & İlhan, İ. (2019). Performance comparison of optimization algorithms in LQR controller design for a nonlinear system . Turkish Journal of Electrical Engineering and Computer Science , 27 (3) , 1938-1953 . Retrieved from https://dergipark.org.tr/tr/pub/tbtkelektrik/issue/45742/577550
MLA Önen, Ü. , Çakan, A. , İlhan, İ. "Performance comparison of optimization algorithms in LQR controller design for a nonlinear system" . Turkish Journal of Electrical Engineering and Computer Science 27 (2019 ): 1938-1953 <https://dergipark.org.tr/tr/pub/tbtkelektrik/issue/45742/577550>
Chicago Önen, Ü. , Çakan, A. , İlhan, İ. "Performance comparison of optimization algorithms in LQR controller design for a nonlinear system". Turkish Journal of Electrical Engineering and Computer Science 27 (2019 ): 1938-1953
RIS TY - JOUR T1 - Performance comparison of optimization algorithms in LQR controller design for a nonlinear system AU - Ümit Önen , Abdullah Çakan , İlhan İlhan Y1 - 2019 PY - 2019 N1 - DO - T2 - Turkish Journal of Electrical Engineering and Computer Science JF - Journal JO - JOR SP - 1938 EP - 1953 VL - 27 IS - 3 SN - 1300-0632-1303-6203 M3 - UR - Y2 - 2022 ER -
EndNote %0 Turkish Journal of Electrical Engineering and Computer Science Performance comparison of optimization algorithms in LQR controller design for a nonlinear system %A Ümit Önen , Abdullah Çakan , İlhan İlhan %T Performance comparison of optimization algorithms in LQR controller design for a nonlinear system %D 2019 %J Turkish Journal of Electrical Engineering and Computer Science %P 1300-0632-1303-6203 %V 27 %N 3 %R %U
ISNAD Önen, Ümit , Çakan, Abdullah , İlhan, İlhan . "Performance comparison of optimization algorithms in LQR controller design for a nonlinear system". Turkish Journal of Electrical Engineering and Computer Science 27 / 3 (Haziran 2019): 1938-1953 .
AMA Önen Ü. , Çakan A. , İlhan İ. Performance comparison of optimization algorithms in LQR controller design for a nonlinear system. Turkish Journal of Electrical Engineering and Computer Science. 2019; 27(3): 1938-1953.
Vancouver Önen Ü. , Çakan A. , İlhan İ. Performance comparison of optimization algorithms in LQR controller design for a nonlinear system. Turkish Journal of Electrical Engineering and Computer Science. 2019; 27(3): 1938-1953.
IEEE Ü. Önen , A. Çakan ve İ. İlhan , "Performance comparison of optimization algorithms in LQR controller design for a nonlinear system", Turkish Journal of Electrical Engineering and Computer Science, c. 27, sayı. 3, ss. 1938-1953, Haz. 2019