Optimal Design of LQR Controller Based on Improved Artificial Bee Colony Optimization Algorithm

Abstract

The inverted pendulum system is characterized as a typical nonlinear, fast multi-variable, essentially unstable system. It is difficult to control because of its instability .In order to improve balance control, the mathematical model of the single inverted pendulum is established, a LQR controller is designed which is based on improved artificial bee colony. Experiments show that the improved algorithm has better performance than standard artificial bee colony algorithm on convergence and rate balance control to meet the requirements of the single inverted pendulum.

A Review of the Motion Planning and Control Methods for Automated Vehicles

“…Then, by solving the linear quadratic optimization objective function, the optimal solution is obtained to achieve the optimal path-tracking control law acting on the controlled platform of the automated vehicle [92]. Wang et al [93] introduced an LQR controller that utilizes optimized weighting coefficients. These coefficients were optimized using an improved artificial ant colony algorithm, which results in improved smoothness and operational stability of the vehicle.…”