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

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dc.contributor.authorOnen, Umit
dc.contributor.authorCakan, Abdullah
dc.contributor.authorIlhan, Ilhan
dc.date.accessioned2024-02-23T14:37:20Z
dc.date.available2024-02-23T14:37:20Z
dc.date.issued2019
dc.departmentNEÜen_US
dc.description.abstractThe 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.en_US
dc.identifier.doi10.3906/elk-1808-51
dc.identifier.endpage1953en_US
dc.identifier.issn1300-0632
dc.identifier.issn1303-6203
dc.identifier.issue3en_US
dc.identifier.scopus2-s2.0-85065853180en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage1938en_US
dc.identifier.urihttps://doi.org/10.3906/elk-1808-51
dc.identifier.urihttps://hdl.handle.net/20.500.12452/16055
dc.identifier.volume27en_US
dc.identifier.wosWOS:000469016000027en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherTubitak Scientific & Technological Research Council Turkeyen_US
dc.relation.ispartofTurkish Journal Of Electrical Engineering And Computer Sciencesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectArtificial Bee Colony Algorithmen_US
dc.subjectGenetic Algorithmen_US
dc.subjectInverted Pendulumen_US
dc.subjectLqr Controlen_US
dc.subjectOptimizationen_US
dc.subjectParticle Swarm Optimizationen_US
dc.titlePerformance comparison of optimization algorithms in LQR controller design for a nonlinear systemen_US
dc.typeArticleen_US

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