Tuning of LQR controller for an experimental inverted pendulum system based on The Bees Algorithm

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dc.contributor.authorBilgic, Hasan Huseyin
dc.contributor.authorSen, Muhammed Arif
dc.contributor.authorKalyoncu, Mete
dc.date.accessioned2020-03-26T19:31:47Z
dc.date.available2020-03-26T19:31:47Z
dc.date.issued2016
dc.departmentSelçuk Üniversitesien_US
dc.description.abstractStabilizing of an inverted pendulum (IP) system is a main problem for researchers working on control theory. Balancing of an inverted pendulum system is one of the major benchmark problems in the control system community. This paper presents optimal tuning of linear quadratic regulator (LQR) controller with The Bees Algorithm (BA) for a linear inverted pendulum. In this paper, a metaheuristic approach which is a nature-inspired search method that mimics the foraging behavior of honey bees is used for design of LQR controller to obtain optimal performance. In LQR controller design, state (Q) and control (R) weighting matrices are basic parameters of LQR which are tuning by designer using trial and error method in usually. The Bees Algorithm optimizes the weighting matrices of the LQR controller so that it can move the cart to a desired position with the minimum change in pendulum's angle from vertically upright position during the movement. The tuned LQR controller is benchmarked on the linear inverted pendulum experimental device (IP02) that is manufactured by QUANSER Company. After description of the system and The Bees Algorithm, the paper gives the experimental results obtained from the IP02 system to demonstrating the efficiency of the tuning of the LQR controller. Simulation and experimental results are given graphically to show the success of controller. As a result of the paper, the performance of LQR controller shows the effectiveness of The Bees Algorithm which is a diversity method for provide an efficient solution to conventional trial and error design approach.en_US
dc.identifier.doi10.21595/jve.2016.16787en_US
dc.identifier.endpage3694en_US
dc.identifier.issn1392-8716en_US
dc.identifier.issue6en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage3684en_US
dc.identifier.urihttps://dx.doi.org/10.21595/jve.2016.16787
dc.identifier.urihttps://hdl.handle.net/20.500.12395/34165
dc.identifier.volume18en_US
dc.identifier.wosWOS:000388743200020en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherJVE INT LTDen_US
dc.relation.ispartofJOURNAL OF VIBROENGINEERINGen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectThe Bees Algorithmen_US
dc.subjecttuning of LQR controlleren_US
dc.subjectoptimizationen_US
dc.subjectinverted pendulumen_US
dc.titleTuning of LQR controller for an experimental inverted pendulum system based on The Bees Algorithmen_US
dc.typeArticleen_US

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