Application of genetic algorithm in optimization controller for cart and pole system
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tamnm@hcmute.edu.vnKeywords:
The LQR controller, genetic algorithm, cart and pole system, balance control, inverted pendulumAbstract
The paper introduces the LQR (liner quadratic regulator) controller optimization method by GA (genetic algorithm) controlling the inverted pendulum on a cart. The paper also presents the model’s kinetic equation. Authors build up the LQR controllers to stabilize the model. Q matrix is selected by both experiences and GA. Then, authors compare responses of the system with these LQR controllers through different generations of GA. The result shows that optimized LQR controller through GA responses in a better way via simulation and experiment.
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