Open AccessStabilization of Three Links Inverted Pendulum with Cart Based on Genetic LQR Approach
Author(s) -
Abdullah Ibrahim Abdullah,
Yazen Hudhaifa Shakir Alnema,
Mohammad A. Thanoon
Publication year - 2022
Publication title -
journal européen des systèmes automatisés/journal européen des systèmes automaitsés
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.16
H-Index - 20
eISSN - 2116-7087
pISSN - 1269-6935
DOI - 10.18280/jesa.550113
Subject(s) - inverted pendulum , control theory (sociology) , linear quadratic regulator , overshoot (microwave communication) , weighting , controller (irrigation) , matlab , computer science , stability (learning theory) , transient (computer programming) , optimal control , mathematics , control (management) , nonlinear system , mathematical optimization , physics , telecommunications , quantum mechanics , artificial intelligence , machine learning , acoustics , agronomy , biology , operating system
This academic paper demonstrates the implementation of a Linear Quadratic Regulator (LQR) controller design for optimal controlling a three connected links in an inverted pendulum form that attached to a moving cart to realize the stability of making a pendulum in a straight vertical line via translation of the cart left and right. To maintain a triple link inverted pendulum (TLIP) vertical, genetic algorithm has been employed to adjust and tune the parameters of LQR, which are the weighting matrices Q and R instead of the approach of try and error. In this article, a hybrid control algorithm (GA-LQR) proposed to select the optimal values of weighting matrices to overcome LQR design difficulties, which gives the best transient response requirements such as percentage overshoot and steady state error. The triple link inverted pendulum is model mathematically modelled in MATLAB platform to simulate the actual system where the results from the simulation gives acceptable and adequate performance of LQR controller in making the system stable.